Classes |
class | FootPrint |
Public Member Functions |
| DYNAMIC_GRAPH_ENTITY_DECL () |
| NextStep (const std::string &name) |
virtual | ~NextStep (void) |
virtual void | nextStep (const int &timeCurr) |
virtual void | starter (const int &timeCurr) |
virtual void | stoper (const int &timeCurr) |
virtual void | introductionCallBack (const int &timeCurr) |
int & | triggerCall (int &dummy, int timeCurr) |
virtual void | display (std::ostream &os) const |
Public Attributes |
SignalPtr< MatrixHomogeneous, int > | referencePositionLeftSIN |
SignalPtr< MatrixHomogeneous, int > | referencePositionRightSIN |
SignalPtr< unsigned, int > | contactFootSIN |
Signal< int, int > | triggerSOUT |
Protected Types |
enum | ContactName {
CONTACT_LEFT_FOOT,
CONTACT_RIGHT_FOOT
} |
enum | SteppingMode {
MODE_1D,
MODE_3D
} |
enum | SteppingState {
STATE_STARTING,
STATE_STOPING,
STATE_STARTED,
STATE_STOPED
} |
Protected Member Functions |
void | thisIsZero () |
Protected Attributes |
std::deque< FootPrint > | footPrintList |
unsigned int | period |
int | timeLastIntroduction |
SteppingMode | mode |
SteppingState | state |
double | zeroStepPosition |
MatrixHomogeneous | rfMref0 |
MatrixHomogeneous | lfMref0 |
NextStepTwoHandObserver | twoHandObserver |
std::ostream * | verbose |
Static Protected Attributes |
static const unsigned int | PERIOD_DEFAULT |
static const double | ZERO_STEP_POSITION_DEFAULT |
Generates footsteps depending on the frame computed by the TwoHandObserver and the interpretation of the sensor forces. A stack of 4 foot prints is maintained, and at each step, two steps are computed: one step to push at the end of the stack, and a step computed from the i-th step of the stack + delta, which corresponds to a change in the future steps.