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FootHalfSize.hh
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1/*
2 * Copyright 2010,
3 *
4 * Olivier Stasse
5 *
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
26#ifndef _FOOT_HALF_SIZE_H_
27#define _FOOT_HALF_SIZE_H_
28
29namespace PatternGeneratorJRL {
30
34 public:
37
38 void setSize(double lWidth, double lHeight, double DSFeetDistance);
39
40 void setConstraints(double OnX, double OnY, double DSFeetDistance);
41
42 protected:
43 void updateHalfHeightDS(double DSFeetDistance);
44 void updateHalfSize();
45
46 private:
47 double m_HalfHeight;
48 double m_HalfWidth;
49 double m_HalfHeightDS;
50 double m_Height;
51 double m_Width;
52
53 double m_ConstraintsOnX;
54 double m_ConstraintsOnY;
55
56 public:
57 double getHalfHeight() const;
58 double getHalfWidth() const;
59 double getHalfHeightDS() const;
60};
61} // namespace PatternGeneratorJRL
62
63#endif /* _FOOT_HALF_SIZE_H_*/
Definition: FootHalfSize.hh:33
void setSize(double lWidth, double lHeight, double DSFeetDistance)
Definition: FootHalfSize.cpp:48
double getHalfWidth() const
Definition: FootHalfSize.cpp:80
~FootHalfSize()
Definition: FootHalfSize.cpp:46
void setConstraints(double OnX, double OnY, double DSFeetDistance)
Definition: FootHalfSize.cpp:69
void updateHalfHeightDS(double DSFeetDistance)
Definition: FootHalfSize.cpp:65
double getHalfHeightDS() const
Definition: FootHalfSize.cpp:82
FootHalfSize()
Definition: FootHalfSize.cpp:32
void updateHalfSize()
Definition: FootHalfSize.cpp:57
double getHalfHeight() const
Definition: FootHalfSize.cpp:78
\doc Simulate a rigid body
Definition: patterngeneratorinterface.hh:41