32 #include <privatepgtypes.hh> 45 SupportState_t &Support,
61 bool m_ReferenceGiven;
double m_DSDuration
constants for the durations in the support phases
Definition: SupportFSM_backup.hh:52
SupportFSM()
Constructor.
Definition: SupportFSM.cpp:33
struct ReferenceAbsoluteVelocity_t ReferenceAbsoluteVelocity
Definition: pgtypes.hh:249
~SupportFSM()
Destructor.
Definition: SupportFSM.cpp:49
void setSupportState(const double &Time, const int &pi, SupportState_t &Support, const ReferenceAbsoluteVelocity &RefVel)
Initialize the previewed state.
double m_DSSSDuration
Definition: SupportFSM_backup.hh:52
double m_SSPeriod
Definition: SupportFSM_backup.hh:52
double SamplingPeriod() const
Definition: SupportFSM.hh:79
Simulate a rigid body
Definition: patterngeneratorinterface.hh:41
unsigned int m_NbOfStepsSSDS
Definition: SupportFSM_backup.hh:55
double m_eps
Numerical precision.
Definition: SupportFSM_backup.hh:49