#include <sot/pattern-generator/next-step.h>


Classes | |
| class | FootPrint |
Public Member Functions | |
| DYNAMIC_GRAPH_ENTITY_DECL () | |
| NextStep (const std::string &name) | |
| virtual | ~NextStep (void) |
| virtual void | nextStep (const int &timeCurr) |
| virtual void | starter (const int &timeCurr) |
| virtual void | stoper (const int &timeCurr) |
| virtual void | introductionCallBack (const int &) |
| int & | triggerCall (int &dummy, int timeCurr) |
| virtual void | display (std::ostream &os) const |
| virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
Public Attributes | |
| SignalPtr< MatrixHomogeneous, int > | referencePositionLeftSIN |
| SignalPtr< MatrixHomogeneous, int > | referencePositionRightSIN |
| SignalPtr< unsigned, int > | contactFootSIN |
| Signal< int, int > | triggerSOUT |
Protected Types | |
| enum | ContactName { CONTACT_LEFT_FOOT , CONTACT_RIGHT_FOOT } |
| enum | SteppingMode { MODE_1D , MODE_3D } |
| enum | SteppingState { STATE_STARTING , STATE_STOPING , STATE_STARTED , STATE_STOPED } |
Protected Member Functions | |
| void | thisIsZero () |
Protected Attributes | |
| std::deque< FootPrint > | footPrintList |
| unsigned int | period |
| int | timeLastIntroduction |
| SteppingMode | mode |
| SteppingState | state |
| double | zeroStepPosition |
| MatrixHomogeneous | rfMref0 |
| MatrixHomogeneous | lfMref0 |
| NextStepTwoHandObserver | twoHandObserver |
| std::ostream * | verbose |
Static Protected Attributes | |
| static const unsigned int | PERIOD_DEFAULT |
| static const double | ZERO_STEP_POSITION_DEFAULT |
Generates footsteps depending on the frame computed by the TwoHandObserver and the interpretation of the sensor forces. A stack of 4 foot prints is maintained, and at each step, two steps are computed: one step to push at the end of the stack, and a step computed from the i-th step of the stack + delta, which corresponds to a change in the future steps.
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| dynamicgraph::sot::NextStep::NextStep | ( | const std::string & | name | ) |
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Reimplemented in dynamicgraph::sot::NextStepPgSot.
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| dynamicgraph::sot::NextStep::DYNAMIC_GRAPH_ENTITY_DECL | ( | ) |
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Reimplemented in dynamicgraph::sot::NextStepPgSot.
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Reimplemented in dynamicgraph::sot::NextStepPgSot.
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Reimplemented in dynamicgraph::sot::NextStepPgSot.
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| int & dynamicgraph::sot::NextStep::triggerCall | ( | int & | dummy, |
| int | timeCurr | ||
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| SignalPtr<unsigned, int> dynamicgraph::sot::NextStep::contactFootSIN |
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| SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::NextStep::referencePositionLeftSIN |
| SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::NextStep::referencePositionRightSIN |
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| Signal<int, int> dynamicgraph::sot::NextStep::triggerSOUT |
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