A step queue in the preview window. More...
#include <sot-pattern-generator/step-queue.h>
Public Member Functions | |
virtual const std::string & | getClassName (void) const |
StepQueue (const std::string &name) | |
Builds a queue containing a starting step and three steps in the preview. | |
void | startSequence () |
Resets the queue to the initial condition (see the constructor, StepQueue::StepQueue). | |
void | pushStep (double x, double y, double theta) |
Adds a step at the end of the preview window. | |
void | changeFirstStep (double x, double y, double dtheta) |
Changes the first step. | |
const FootPrint & | getFirstStepChange () const |
bool | isFirstStepChanged () const |
Returns true if the first step has been changed since the last call to pushStep. | |
virtual void | display (std::ostream &os) const |
const FootPrint & | getStep (unsigned int index) const |
Access to the step queue. | |
const FootPrint & | getFirstStep () const |
const FootPrint & | getLastStep () const |
unsigned int | size () const |
Access to the step queue properties (constants). | |
const FootPrint & | getStartFootPrint () const |
double | getZeroStepPosition () const |
Static Public Attributes | |
static const std::string | CLASS_NAME |
A step queue in the preview window.
A series of step in the preview window. The first step can be modified.
dynamicgraph::sot::StepQueue::StepQueue | ( | const std::string & | name | ) |
Builds a queue containing a starting step and three steps in the preview.
The steps correspond to on-place stepping: (0, +/- y, 0), where y == StepQueue::ZERO_STEP_POSITION
void dynamicgraph::sot::StepQueue::changeFirstStep | ( | double | x, |
double | y, | ||
double | dtheta | ||
) |
Changes the first step.
virtual void dynamicgraph::sot::StepQueue::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
virtual const std::string& dynamicgraph::sot::StepQueue::getClassName | ( | void | ) | const [inline, virtual] |
Implements dynamicgraph::Entity.
const FootPrint& dynamicgraph::sot::StepQueue::getFirstStep | ( | ) | const |
const FootPrint& dynamicgraph::sot::StepQueue::getFirstStepChange | ( | ) | const |
const FootPrint& dynamicgraph::sot::StepQueue::getLastStep | ( | ) | const |
const FootPrint& dynamicgraph::sot::StepQueue::getStartFootPrint | ( | ) | const |
const FootPrint& dynamicgraph::sot::StepQueue::getStep | ( | unsigned int | index | ) | const |
Access to the step queue.
double dynamicgraph::sot::StepQueue::getZeroStepPosition | ( | ) | const |
bool dynamicgraph::sot::StepQueue::isFirstStepChanged | ( | ) | const |
Returns true if the first step has been changed since the last call to pushStep.
void dynamicgraph::sot::StepQueue::pushStep | ( | double | x, |
double | y, | ||
double | theta | ||
) |
Adds a step at the end of the preview window.
The step at the beginning of the preview window is removed. The firstStepChanged flag is reset to false.
unsigned int dynamicgraph::sot::StepQueue::size | ( | ) | const |
Access to the step queue properties (constants).
void dynamicgraph::sot::StepQueue::startSequence | ( | ) |
Resets the queue to the initial condition (see the constructor, StepQueue::StepQueue).
const std::string dynamicgraph::sot::StepQueue::CLASS_NAME [static] |