Finite state machine to determine the support parameters.
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#include <PreviewControl/SupportFSM.hh>
Finite state machine to determine the support parameters.
◆ SupportFSM() [1/2]
SupportFSM::SupportFSM |
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◆ ~SupportFSM() [1/2]
SupportFSM::~SupportFSM |
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◆ SupportFSM() [2/2]
PatternGeneratorJRL::SupportFSM::SupportFSM |
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const double & | SamplingPeriod | ) |
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◆ ~SupportFSM() [2/2]
PatternGeneratorJRL::SupportFSM::~SupportFSM |
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◆ DSPeriod() [1/2]
double PatternGeneratorJRL::SupportFSM::DSPeriod |
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◆ DSPeriod() [2/2]
void PatternGeneratorJRL::SupportFSM::DSPeriod |
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const double | DSPeriod | ) |
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◆ DSSSPeriod() [1/2]
double PatternGeneratorJRL::SupportFSM::DSSSPeriod |
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◆ DSSSPeriod() [2/2]
void PatternGeneratorJRL::SupportFSM::DSSSPeriod |
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const double | DSSSPeriod | ) |
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◆ NBStepsSSDS()
unsigned PatternGeneratorJRL::SupportFSM::NBStepsSSDS |
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◆ NbStepsSSDS()
void PatternGeneratorJRL::SupportFSM::NbStepsSSDS |
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const unsigned | NbStepsSSDS | ) |
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◆ SamplingPeriod() [1/2]
double PatternGeneratorJRL::SupportFSM::SamplingPeriod |
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◆ SamplingPeriod() [2/2]
void PatternGeneratorJRL::SupportFSM::SamplingPeriod |
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const double | T | ) |
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◆ set_support_state()
void SupportFSM::set_support_state |
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double | time, |
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unsigned int | pi, |
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support_state_t & | Support, |
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const reference_t & | Ref ) const |
Initialize the previewed state.
- Parameters
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[in] | time | Current time |
[in] | pi | Number of (p)reviewed sampling (i)nstant inside the preview period |
[out] | Support | Support state to be actualized |
[in] | Ref | Trajectory reference |
◆ setSupportState()
void PatternGeneratorJRL::SupportFSM::setSupportState |
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const double & | Time, |
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const int & | pi, |
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SupportState_t & | Support, |
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const ReferenceAbsoluteVelocity & | RefVel ) |
Initialize the previewed state.
◆ StepPeriod() [1/2]
double PatternGeneratorJRL::SupportFSM::StepPeriod |
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◆ StepPeriod() [2/2]
void PatternGeneratorJRL::SupportFSM::StepPeriod |
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const double | StepPeriod | ) |
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◆ update_vel_reference()
void SupportFSM::update_vel_reference |
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reference_t & | Ref, |
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const support_state_t & | CurrentSupport ) |
Update the velocity reference after a pure rotation.
- Parameters
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[in] | Ref | |
[in] | CurrentSupport | |
◆ m_DSDuration
double PatternGeneratorJRL::SupportFSM::m_DSDuration |
Numerical precision */ double m_eps;.
/*! constants for the durations in the support phases
◆ m_DSSSDuration
double PatternGeneratorJRL::SupportFSM::m_DSSSDuration |
◆ m_NbOfStepsSSDS
unsigned int PatternGeneratorJRL::SupportFSM::m_NbOfStepsSSDS |
◆ m_SSPeriod
double PatternGeneratorJRL::SupportFSM::m_SSPeriod |
The documentation for this class was generated from the following files: