dynamicgraph::sot::StepObserver Class Reference

Computes a reference frame from the position of both hands and feet of the robot. More...

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

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

Public Member Functions

virtual const std::string & getClassName (void) const
 StepObserver (const std::string &name)
SignalArray< int > getSignals (void)
 operator SignalArray< int > ()
MatrixHomogeneouscomputeReferencePositionLeft (MatrixHomogeneous &res, int timeCurr)
MatrixHomogeneouscomputeReferencePositionRight (MatrixHomogeneous &res, int timeCurr)
MatrixHomogeneouscomputeReferencePositionWaist (MatrixHomogeneous &res, int timeCurr)
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 > leftHandPositionSIN
SignalPtr< MatrixHomogeneous, int > rightHandPositionSIN
SignalPtr< MatrixHomogeneous, int > leftFootPositionSIN
SignalPtr< MatrixHomogeneous, int > rightFootPositionSIN
SignalPtr< MatrixHomogeneous, int > waistPositionSIN
SignalTimeDependent
< MatrixHomogeneous, int > 
referencePositionLeftSOUT
 Reference frame in left foot coordinates.
SignalTimeDependent
< MatrixHomogeneous, int > 
referencePositionRightSOUT
 Reference frame in right foot coordinates.
SignalTimeDependent
< MatrixHomogeneous, int > 
referencePositionWaistSOUT
 Reference frame in the waist coordinates.

Static Public Attributes

static const std::string CLASS_NAME

Detailed Description

Computes a reference frame from the position of both hands and feet of the robot.

The coordinates of the reference frames are computed both in the left and right foot frames, and in the waist frame.


Constructor & Destructor Documentation

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

Member Function Documentation

virtual void dynamicgraph::sot::StepObserver::commandLine ( const std::string &  cmdLine,
std::istringstream &  cmdArgs,
std::ostream &  os 
) [virtual]

Reimplemented from dynamicgraph::Entity.

MatrixHomogeneous& dynamicgraph::sot::StepObserver::computeReferencePositionLeft ( MatrixHomogeneous res,
int  timeCurr 
)
MatrixHomogeneous& dynamicgraph::sot::StepObserver::computeReferencePositionRight ( MatrixHomogeneous res,
int  timeCurr 
)
MatrixHomogeneous& dynamicgraph::sot::StepObserver::computeReferencePositionWaist ( MatrixHomogeneous res,
int  timeCurr 
)
virtual void dynamicgraph::sot::StepObserver::display ( std::ostream &  os) const [virtual]

Reimplemented from dynamicgraph::Entity.

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

Implements dynamicgraph::Entity.

SignalArray<int> dynamicgraph::sot::StepObserver::getSignals ( void  )
dynamicgraph::sot::StepObserver::operator SignalArray< int > ( )

Member Data Documentation

const std::string dynamicgraph::sot::StepObserver::CLASS_NAME [static]