22#ifndef __SOT_STEPQUEUE_H__
23#define __SOT_STEPQUEUE_H__
30#include <dynamic-graph/entity.h>
44#if defined(step_queue_EXPORTS)
45#define StepQueue_EXPORT __declspec(dllexport)
47#define StepQueue_EXPORT __declspec(dllimport)
50#define StepQueue_EXPORT
80 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
83 static const unsigned int QUEUE_SIZE;
84 static const double ZERO_STEP_POSITION;
131 std::istringstream &cmdArgs, std::ostream &os);
134 std::deque<FootPrint> footPrintList;
136 bool firstStepChanged;
A step queue in the preview window.
Definition: step-queue.h:77
void changeFirstStep(double x, double y, double dtheta)
Changes the first step.
virtual void commandLine(const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
const FootPrint & getStep(unsigned int index) const
void pushStep(double x, double y, double theta)
bool isFirstStepChanged() const
virtual const std::string & getClassName(void) const
Definition: step-queue.h:80
StepQueue(const std::string &name)
const FootPrint & getStartFootPrint() const
virtual void display(std::ostream &os) const
const FootPrint & getLastStep() const
double getZeroStepPosition() const
const FootPrint & getFirstStep() const
const FootPrint & getFirstStepChange() const
unsigned int size() const
Access to the step queue properties (constants).
static const std::string CLASS_NAME
Definition: step-queue.h:79
ContactName
Support foot identifier.
Definition: step-queue.h:58
@ CONTACT_LEFT_FOOT
Definition: step-queue.h:58
@ CONTACT_RIGHT_FOOT
Definition: step-queue.h:58
Definition: exception-pg.h:47
#define StepQueue_EXPORT
Definition: step-queue.h:50