dynamicgraph::sot::StepComputerForce Class Reference

Generates footsteps. More...

#include <sot-pattern-generator/step-computer-force.h>

Inheritance diagram for dynamicgraph::sot::StepComputerForce:
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Collaboration diagram for dynamicgraph::sot::StepComputerForce:
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List of all members.

Public Member Functions

virtual const std::string & getClassName (void) const
 StepComputerForce (const std::string &name)
void changeFirstStep (StepQueue &queue, int timeCurr)
void nextStep (StepQueue &queue, int timeCurr)
VectorcomputeDisplacement (Vector &res, int timeCurr)
VectorcomputeForce (Vector &res, int timeCurr)
VectorcomputeForceL (Vector &res, int timeCurr)
VectorcomputeForceR (Vector &res, int timeCurr)
VectorcomputeHandForce (Vector &res, const MatrixHomogeneous &waMh, const MatrixHomogeneous &waMref, const Vector &F)
virtual void display (std::ostream &os) const
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)

Public Attributes

SignalPtr< MatrixHomogeneous, int > waistMlhandSIN
SignalPtr< MatrixHomogeneous, int > waistMrhandSIN
SignalPtr< MatrixHomogeneous, int > referencePositionWaistSIN
SignalPtr< Vector, int > stiffnessSIN
SignalPtr< Vector, int > velocitySIN
SignalPtr< unsigned, int > contactFootSIN
SignalTimeDependent< Vector, int > displacementSOUT
SignalTimeDependent< Vector, int > forceSOUT
SignalTimeDependent< Vector, int > forceLhandSOUT
SignalTimeDependent< Vector, int > forceRhandSOUT

Static Public Attributes

static const std::string CLASS_NAME

Detailed Description

Generates footsteps.


Constructor & Destructor Documentation

dynamicgraph::sot::StepComputerForce::StepComputerForce ( const std::string &  name)

Member Function Documentation

void dynamicgraph::sot::StepComputerForce::changeFirstStep ( StepQueue queue,
int  timeCurr 
) [virtual]
virtual void dynamicgraph::sot::StepComputerForce::commandLine ( const std::string &  cmdLine,
std::istringstream &  cmdArgs,
std::ostream &  os 
) [virtual]

Reimplemented from dynamicgraph::Entity.

Vector& dynamicgraph::sot::StepComputerForce::computeDisplacement ( Vector res,
int  timeCurr 
)
Vector& dynamicgraph::sot::StepComputerForce::computeForce ( Vector res,
int  timeCurr 
)
Vector& dynamicgraph::sot::StepComputerForce::computeForceL ( Vector res,
int  timeCurr 
)
Vector& dynamicgraph::sot::StepComputerForce::computeForceR ( Vector res,
int  timeCurr 
)
Vector& dynamicgraph::sot::StepComputerForce::computeHandForce ( Vector res,
const MatrixHomogeneous waMh,
const MatrixHomogeneous waMref,
const Vector F 
)
virtual void dynamicgraph::sot::StepComputerForce::display ( std::ostream &  os) const [virtual]

Reimplemented from dynamicgraph::Entity.

virtual const std::string& dynamicgraph::sot::StepComputerForce::getClassName ( void  ) const [inline, virtual]

Implements dynamicgraph::Entity.

void dynamicgraph::sot::StepComputerForce::nextStep ( StepQueue queue,
int  timeCurr 
) [virtual]

Member Data Documentation