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step-computer-force.h
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1/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2 * Copyright Projet JRL-Japan, 2007
3 *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
4 *
5 * File: StepComputer.h
6 * Project: SOT
7 * Author: Paul Evrard, Nicolas Mansard
8 *
9 * Version control
10 * ===============
11 *
12 * $Id$
13 *
14 * Description
15 * ============
16 *
17 *
18 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
19
20#ifndef __SOT_StepComputer_FORCE_H__
21#define __SOT_StepComputer_FORCE_H__
22
23/* --------------------------------------------------------------------- */
24/* --- INCLUDE --------------------------------------------------------- */
25/* --------------------------------------------------------------------- */
26
27/* SOT */
28#include <dynamic-graph/entity.h>
29#include <dynamic-graph/signal-ptr.h>
30#include <dynamic-graph/signal-time-dependent.h>
34
35#include <sot/core/matrix-geometry.hh>
36/* STD */
37#include <deque>
38#include <fstream>
39#include <string>
40
41/* --------------------------------------------------------------------- */
42/* --- API ------------------------------------------------------------- */
43/* --------------------------------------------------------------------- */
44
45#if defined(WIN32)
46#if defined(step_computer_force_EXPORTS)
47#define StepComputerFORCE_EXPORT __declspec(dllexport)
48#else
49#define StepComputerFORCE_EXPORT __declspec(dllimport)
50#endif
51#else
52#define StepComputerFORCE_EXPORT
53#endif
54
55namespace dynamicgraph {
56namespace sot {
57
58/* --------------------------------------------------------------------- */
59/* --- CLASS ----------------------------------------------------------- */
60/* --------------------------------------------------------------------- */
61
62class StepQueue;
63
66 public StepComputer {
67 public:
68 static const std::string CLASS_NAME;
69 virtual const std::string &getClassName(void) const { return CLASS_NAME; }
70
71 public: // Construction
72 StepComputerForce(const std::string &name);
73
74 public: // Methods
75 void changeFirstStep(StepQueue &queue, int timeCurr);
76 void nextStep(StepQueue &queue, int timeCurr);
77
78 public: // Signals
79 SignalPtr<MatrixHomogeneous, int> waistMlhandSIN;
80 SignalPtr<MatrixHomogeneous, int> waistMrhandSIN;
81 SignalPtr<MatrixHomogeneous, int> referencePositionWaistSIN;
82 SignalPtr<Vector, int> stiffnessSIN;
83 SignalPtr<Vector, int> velocitySIN;
84 SignalPtr<unsigned, int> contactFootSIN;
85
86 SignalTimeDependent<Vector, int> displacementSOUT;
87 SignalTimeDependent<Vector, int> forceSOUT;
88 SignalTimeDependent<Vector, int> forceLhandSOUT;
89 SignalTimeDependent<Vector, int> forceRhandSOUT;
90
91 Vector &computeDisplacement(Vector &res, int timeCurr);
92 Vector &computeForce(Vector &res, int timeCurr);
93 Vector &computeForceL(Vector &res, int timeCurr);
94 Vector &computeForceR(Vector &res, int timeCurr);
95 Vector &computeHandForce(Vector &res, const MatrixHomogeneous &waMh,
96 const MatrixHomogeneous &waMref, const Vector &F);
97
98 public: // Entity
99 virtual void display(std::ostream &os) const;
100 virtual void commandLine(const std::string &cmdLine,
101 std::istringstream &cmdArgs, std::ostream &os);
102
103 private: // Reference frame
104 MatrixHomogeneous waMref0;
105 StepObserver *twoHandObserver;
106 StepChecker checker;
107
108 void thisIsZero();
109
110 private: // Debug
111 std::ofstream logChanges;
112 std::ofstream logPreview;
113};
114
115} // namespace sot
116} // namespace dynamicgraph
117
118#endif // #ifndef __SOT_STEPCOMPUTER_H__
Definition: step-checker.h:41
Generates footsteps.
Definition: step-computer-force.h:66
virtual void display(std::ostream &os) const
SignalTimeDependent< Vector, int > forceLhandSOUT
Definition: step-computer-force.h:88
void changeFirstStep(StepQueue &queue, int timeCurr)
virtual const std::string & getClassName(void) const
Definition: step-computer-force.h:69
SignalPtr< MatrixHomogeneous, int > waistMrhandSIN
Definition: step-computer-force.h:80
Vector & computeDisplacement(Vector &res, int timeCurr)
SignalPtr< MatrixHomogeneous, int > waistMlhandSIN
Definition: step-computer-force.h:79
Vector & computeForceL(Vector &res, int timeCurr)
SignalTimeDependent< Vector, int > forceSOUT
Definition: step-computer-force.h:87
Vector & computeHandForce(Vector &res, const MatrixHomogeneous &waMh, const MatrixHomogeneous &waMref, const Vector &F)
SignalPtr< MatrixHomogeneous, int > referencePositionWaistSIN
Definition: step-computer-force.h:81
SignalTimeDependent< Vector, int > displacementSOUT
Definition: step-computer-force.h:86
void nextStep(StepQueue &queue, int timeCurr)
SignalPtr< Vector, int > stiffnessSIN
Definition: step-computer-force.h:82
Vector & computeForceR(Vector &res, int timeCurr)
Vector & computeForce(Vector &res, int timeCurr)
virtual void commandLine(const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
static const std::string CLASS_NAME
Definition: step-computer-force.h:68
StepComputerForce(const std::string &name)
SignalPtr< unsigned, int > contactFootSIN
Definition: step-computer-force.h:84
SignalTimeDependent< Vector, int > forceRhandSOUT
Definition: step-computer-force.h:89
SignalPtr< Vector, int > velocitySIN
Definition: step-computer-force.h:83
Generates footsteps.
Definition: step-computer.h:53
Definition: step-observer.h:59
A step queue in the preview window.
Definition: step-queue.h:77
Definition: exception-pg.h:47
#define StepComputerFORCE_EXPORT
Definition: step-computer-force.h:52