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SupportFSM_backup.hh
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1/*
2 * Copyright 2010,
3 *
4 * Andrei Herdt
5 * Olivier Stasse
6 *
7 * JRL, CNRS/AIST
8 *
9 * This file is part of walkGenJrl.
10 * walkGenJrl is free software: you can redistribute it and/or modify
11 * it under the terms of the GNU Lesser General Public License as published by
12 * the Free Software Foundation, either version 3 of the License, or
13 * (at your option) any later version.
14 *
15 * walkGenJrl is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU General Lesser Public License for more details.
19 * You should have received a copy of the GNU Lesser General Public License
20 * along with walkGenJrl. If not, see <http://www.gnu.org/licenses/>.
21 *
22 * Research carried out within the scope of the
23 * Joint Japanese-French Robotics Laboratory (JRL)
24 */
25/* This object provides the finite state machine to determine the support
26 * parameters. */
27
28#ifndef _SUPPORT_FSM_
29#define _SUPPORT_FSM_
30
32#include <privatepgtypes.hh>
33
34namespace PatternGeneratorJRL {
35class SupportFSM {
36public:
38 SupportFSM(const double &SamplingPeriod);
39
42
44 void setSupportState(const double &Time, const int &pi,
45 SupportState_t &Support,
46 const ReferenceAbsoluteVelocity &RefVel);
47
49 double m_eps;
50
53
54 // Number of steps done before DS
55 unsigned int m_NbOfStepsSSDS;
56
57private:
59 double m_T;
60
61 bool m_ReferenceGiven;
62
63 int m_FullDebug;
64};
65} // namespace PatternGeneratorJRL
66
67#endif /* _SUPPORT_FSM_ */
double m_DSDuration
Numerical precision *‍/ double m_eps;.
Definition: SupportFSM_backup.hh:52
SupportFSM(const double &SamplingPeriod)
void setSupportState(const double &Time, const int &pi, SupportState_t &Support, const ReferenceAbsoluteVelocity &RefVel)
Initialize the previewed state.
double m_DSSSDuration
Definition: SupportFSM_backup.hh:52
unsigned int m_NbOfStepsSSDS
Definition: SupportFSM_backup.hh:55
double m_SSPeriod
Definition: SupportFSM_backup.hh:52
double SamplingPeriod() const
Definition: SupportFSM.hh:80
\doc Simulate a rigid body
Definition: patterngeneratorinterface.hh:41
Structure to store the absolute reference.
Definition: pgtypes.hh:241