next-step-pg-sot.h
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1/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2 * Copyright Projet JRL-Japan, 2007
3 *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
4 *
5 * File: NextStep.h
6 * Project: SOT
7 * Author: Nicolas Mansard
8 *
9 * Version control
10 * ===============
11 *
12 * $Id$
13 *
14 * Description
15 * ============
16 *
17 *
18 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
19
20#ifndef __SOT_NextStep_OHRP_H__
21#define __SOT_NextStep_OHRP_H__
22
23/* --------------------------------------------------------------------- */
24/* --- INCLUDE --------------------------------------------------------- */
25/* --------------------------------------------------------------------- */
26
27/* SOT */
30
31/* STD */
32#include <deque>
33#include <string>
34
35/* --------------------------------------------------------------------- */
36/* --- API ------------------------------------------------------------- */
37/* --------------------------------------------------------------------- */
38
39#if defined(WIN32)
40#if defined(next_step_pg_sot_EXPORTS)
41#define NextStepPGSOT_EXPORT __declspec(dllexport)
42#else
43#define NextStepPGSOT_EXPORT __declspec(dllimport)
44#endif
45#else
46#define NextStepPGSOT_EXPORT
47#endif
48
49/* --------------------------------------------------------------------- */
50/* --- CLASS ----------------------------------------------------------- */
51/* --------------------------------------------------------------------- */
52
53namespace dynamicgraph {
54namespace sot {
55
57 public:
59 static const unsigned int ADDING_STEP = 0;
60 static const unsigned int CHANGING_STEP = 1;
61
62 protected:
63 typedef std::pair<unsigned int, PatternGeneratorJRL::FootAbsolutePosition>
65 std::vector<FootPrint_t> stepbuf;
66
67 Entity *pgEntity;
70 unsigned int m_NbOfFirstSteps;
71
73 pg::PatternGeneratorInterface *m_PGI;
74
78
79 public: /* --- CONSTRUCTION --- */
80 NextStepPgSot(const std::string &name);
81 virtual ~NextStepPgSot(void) {}
82
83 public: /* --- FUNCTIONS --- */
84 virtual void starter(const int &timeCurr);
85 virtual void stoper(const int &timeCurr);
86 virtual void introductionCallBack(const int &timeCurr);
87
88 public: /* --- ENTITY INHERITANCE --- */
89 virtual void commandLine(const std::string &cmdLine,
90 std::istringstream &cmdArgs, std::ostream &os);
91};
92
93} // namespace sot
94} // namespace dynamicgraph
95
96#endif // #ifndef __SOT_NextStep_OHRP_H__
Definition: next-step-pg-sot.h:56
virtual void introductionCallBack(const int &timeCurr)
double m_NextStepTime
Definition: next-step-pg-sot.h:69
virtual void commandLine(const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
PatternGenerator * m_sPG
Pointer towards the entity which handle the pattern generator.
Definition: next-step-pg-sot.h:77
unsigned int m_StepModificationMode
Definition: next-step-pg-sot.h:68
std::pair< unsigned int, PatternGeneratorJRL::FootAbsolutePosition > FootPrint_t
Definition: next-step-pg-sot.h:64
virtual ~NextStepPgSot(void)
Definition: next-step-pg-sot.h:81
Entity * pgEntity
Definition: next-step-pg-sot.h:67
pg::PatternGeneratorInterface * m_PGI
Pointer towards the interface of the pattern generator.
Definition: next-step-pg-sot.h:73
virtual void stoper(const int &timeCurr)
virtual void starter(const int &timeCurr)
std::vector< FootPrint_t > stepbuf
Definition: next-step-pg-sot.h:65
NextStepPgSot(const std::string &name)
unsigned int m_NbOfFirstSteps
Definition: next-step-pg-sot.h:70
Definition: next-step.h:115
This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implem...
Definition: pg.h:84
Definition: exception-pg.h:47
#define NextStepPGSOT_EXPORT
Definition: next-step-pg-sot.h:46