20 #ifndef __SOT_SOTNEXTSTEP_H__
21 #define __SOT_SOTNEXTSTEP_H__
27 #include <pinocchio/fwd.hpp>
30 #include <dynamic-graph/entity.h>
31 #include <dynamic-graph/signal-ptr.h>
32 #include <dynamic-graph/signal-time-dependent.h>
33 #include <sot/core/matrix-geometry.hh>
44 #if defined(next_step_EXPORTS)
45 #define SOTNEXTSTEP_EXPORT __declspec(dllexport)
47 #define SOTNEXTSTEP_EXPORT __declspec(dllimport)
50 #define SOTNEXTSTEP_EXPORT
97 operator SignalArray<int>();
100 MatrixHomogeneous &computeRefPos(MatrixHomogeneous &res,
int timeCurr,
101 const MatrixHomogeneous &wMsf);
176 virtual void stoper(
const int &timeCurr);
185 std::istringstream &cmdArgs, std::ostream &os);
Definition: next-step.h:67
NextStepTwoHandObserver(const std::string &name)
Vector & computeReferenceAcceleration(const Vector &right, const Vector &left, Vector &res)
SignalTimeDependent< MatrixHomogeneous, int > referencePositionLeftSOUT
Definition: next-step.h:79
Vector & computeReferenceVelocity(const Vector &right, const Vector &left, Vector &res)
SignalTimeDependent< Vector, int > referenceAccelerationSOUT
Definition: next-step.h:82
SignalPtr< Vector, int > referenceAccelerationRightSIN
Definition: next-step.h:76
SignalPtr< MatrixHomogeneous, int > leftFootPositionSIN
Definition: next-step.h:72
SignalPtr< MatrixHomogeneous, int > rightFootPositionSIN
Definition: next-step.h:77
SignalPtr< Vector, int > referenceVelocityLeftSIN
Definition: next-step.h:70
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
Definition: next-step.h:74
SignalArray< int > getSignals(void)
MatrixHomogeneous & computeReferencePositionRight(MatrixHomogeneous &res, int timeCurr)
MatrixHomogeneous & computeReferencePositionLeft(MatrixHomogeneous &res, int timeCurr)
SignalPtr< Vector, int > referenceAccelerationLeftSIN
Definition: next-step.h:71
SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
Definition: next-step.h:69
SignalTimeDependent< MatrixHomogeneous, int > referencePositionRightSOUT
Definition: next-step.h:80
SignalTimeDependent< Vector, int > referenceVelocitySOUT
Definition: next-step.h:81
SignalPtr< Vector, int > referenceVelocityRightSIN
Definition: next-step.h:75
Definition: next-step.h:114
virtual void introductionCallBack(const int &)
Definition: next-step.h:178
int timeLastIntroduction
Definition: next-step.h:131
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
Definition: next-step.h:168
SteppingMode
Definition: next-step.h:134
@ MODE_1D
Definition: next-step.h:134
SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
Definition: next-step.h:167
std::deque< FootPrint > footPrintList
Definition: next-step.h:126
virtual void starter(const int &timeCurr)
SteppingState
Definition: next-step.h:136
DYNAMIC_GRAPH_ENTITY_DECL()
static const double ZERO_STEP_POSITION_DEFAULT
Definition: next-step.h:150
virtual void nextStep(const int &timeCurr)
SignalPtr< unsigned, int > contactFootSIN
Definition: next-step.h:169
int & triggerCall(int &dummy, int timeCurr)
ContactName
Definition: next-step.h:119
@ CONTACT_LEFT_FOOT
Definition: next-step.h:119
virtual void commandLine(const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
SteppingState state
Definition: next-step.h:146
static const unsigned int PERIOD_DEFAULT
Definition: next-step.h:130
NextStep(const std::string &name)
SteppingMode mode
Definition: next-step.h:135
MatrixHomogeneous rfMref0
Definition: next-step.h:153
virtual void display(std::ostream &os) const
Signal< int, int > triggerSOUT
Definition: next-step.h:171
std::ostream * verbose
Definition: next-step.h:160
NextStepTwoHandObserver twoHandObserver
Definition: next-step.h:155
virtual void stoper(const int &timeCurr)
double zeroStepPosition
Definition: next-step.h:149
MatrixHomogeneous lfMref0
Definition: next-step.h:154
unsigned int period
Definition: next-step.h:129
@ CONTACT_RIGHT_FOOT
Definition: step-queue.h:58
Definition: exception-pg.h:47
#define SOTNEXTSTEP_EXPORT
Definition: next-step.h:50