Generates footsteps.
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#include <sot/pattern-generator/step-computer-force.h>
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virtual const std::string & | getClassName (void) const |
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| StepComputerForce (const std::string &name) |
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void | changeFirstStep (StepQueue &queue, int timeCurr) |
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void | nextStep (StepQueue &queue, int timeCurr) |
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Vector & | computeDisplacement (Vector &res, int timeCurr) |
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Vector & | computeForce (Vector &res, int timeCurr) |
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Vector & | computeForceL (Vector &res, int timeCurr) |
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Vector & | computeForceR (Vector &res, int timeCurr) |
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Vector & | computeHandForce (Vector &res, const MatrixHomogeneous &waMh, const MatrixHomogeneous &waMref, const Vector &F) |
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virtual void | display (std::ostream &os) const |
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virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
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virtual | ~StepComputer () |
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SignalPtr< MatrixHomogeneous, int > | waistMlhandSIN |
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SignalPtr< MatrixHomogeneous, int > | waistMrhandSIN |
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SignalPtr< MatrixHomogeneous, int > | referencePositionWaistSIN |
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SignalPtr< Vector, int > | stiffnessSIN |
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SignalPtr< Vector, int > | velocitySIN |
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SignalPtr< unsigned, int > | contactFootSIN |
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SignalTimeDependent< Vector, int > | displacementSOUT |
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SignalTimeDependent< Vector, int > | forceSOUT |
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SignalTimeDependent< Vector, int > | forceLhandSOUT |
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SignalTimeDependent< Vector, int > | forceRhandSOUT |
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◆ StepComputerForce()
dynamicgraph::sot::StepComputerForce::StepComputerForce |
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const std::string & | name | ) |
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◆ changeFirstStep()
void dynamicgraph::sot::StepComputerForce::changeFirstStep |
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StepQueue & | queue, |
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int | timeCurr ) |
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◆ commandLine()
virtual void dynamicgraph::sot::StepComputerForce::commandLine |
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const std::string & | cmdLine, |
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std::istringstream & | cmdArgs, |
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std::ostream & | os ) |
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◆ computeDisplacement()
Vector & dynamicgraph::sot::StepComputerForce::computeDisplacement |
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Vector & | res, |
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int | timeCurr ) |
◆ computeForce()
Vector & dynamicgraph::sot::StepComputerForce::computeForce |
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Vector & | res, |
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int | timeCurr ) |
◆ computeForceL()
Vector & dynamicgraph::sot::StepComputerForce::computeForceL |
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Vector & | res, |
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int | timeCurr ) |
◆ computeForceR()
Vector & dynamicgraph::sot::StepComputerForce::computeForceR |
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Vector & | res, |
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int | timeCurr ) |
◆ computeHandForce()
Vector & dynamicgraph::sot::StepComputerForce::computeHandForce |
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Vector & | res, |
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const MatrixHomogeneous & | waMh, |
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const MatrixHomogeneous & | waMref, |
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const Vector & | F ) |
◆ display()
virtual void dynamicgraph::sot::StepComputerForce::display |
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std::ostream & | os | ) |
const |
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virtual |
◆ getClassName()
virtual const std::string & dynamicgraph::sot::StepComputerForce::getClassName |
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void | | ) |
const |
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inlinevirtual |
◆ nextStep()
void dynamicgraph::sot::StepComputerForce::nextStep |
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StepQueue & | queue, |
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int | timeCurr ) |
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◆ CLASS_NAME
const std::string dynamicgraph::sot::StepComputerForce::CLASS_NAME |
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static |
◆ contactFootSIN
SignalPtr<unsigned, int> dynamicgraph::sot::StepComputerForce::contactFootSIN |
◆ displacementSOUT
SignalTimeDependent<Vector, int> dynamicgraph::sot::StepComputerForce::displacementSOUT |
◆ forceLhandSOUT
SignalTimeDependent<Vector, int> dynamicgraph::sot::StepComputerForce::forceLhandSOUT |
◆ forceRhandSOUT
SignalTimeDependent<Vector, int> dynamicgraph::sot::StepComputerForce::forceRhandSOUT |
◆ forceSOUT
SignalTimeDependent<Vector, int> dynamicgraph::sot::StepComputerForce::forceSOUT |
◆ referencePositionWaistSIN
SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::StepComputerForce::referencePositionWaistSIN |
◆ stiffnessSIN
SignalPtr<Vector, int> dynamicgraph::sot::StepComputerForce::stiffnessSIN |
◆ velocitySIN
SignalPtr<Vector, int> dynamicgraph::sot::StepComputerForce::velocitySIN |
◆ waistMlhandSIN
SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::StepComputerForce::waistMlhandSIN |
◆ waistMrhandSIN
SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::StepComputerForce::waistMrhandSIN |
The documentation for this class was generated from the following file: