Generates footsteps.
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#include <sot-pattern-generator/step-computer-force.h>
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SignalPtr< MatrixHomogeneous, int > | waistMlhandSIN |
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SignalPtr< MatrixHomogeneous, int > | waistMrhandSIN |
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SignalPtr< MatrixHomogeneous, int > | referencePositionWaistSIN |
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SignalPtr< Vector, int > | stiffnessSIN |
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SignalPtr< Vector, int > | velocitySIN |
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SignalPtr< unsigned, int > | contactFootSIN |
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SignalTimeDependent< Vector, int > | displacementSOUT |
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SignalTimeDependent< Vector, int > | forceSOUT |
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SignalTimeDependent< Vector, int > | forceLhandSOUT |
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SignalTimeDependent< Vector, int > | forceRhandSOUT |
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◆ StepComputerForce()
dynamicgraph::sot::StepComputerForce::StepComputerForce |
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const std::string & |
name | ) |
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◆ changeFirstStep()
void dynamicgraph::sot::StepComputerForce::changeFirstStep |
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StepQueue & |
queue, |
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int |
timeCurr |
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) |
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virtual |
◆ computeDisplacement()
Vector& dynamicgraph::sot::StepComputerForce::computeDisplacement |
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Vector & |
res, |
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int |
timeCurr |
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) |
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◆ computeForce()
Vector& dynamicgraph::sot::StepComputerForce::computeForce |
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Vector & |
res, |
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int |
timeCurr |
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) |
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◆ computeForceL()
Vector& dynamicgraph::sot::StepComputerForce::computeForceL |
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Vector & |
res, |
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int |
timeCurr |
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) |
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◆ computeForceR()
Vector& dynamicgraph::sot::StepComputerForce::computeForceR |
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Vector & |
res, |
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int |
timeCurr |
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) |
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◆ computeHandForce()
◆ display()
virtual void dynamicgraph::sot::StepComputerForce::display |
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std::ostream & |
os | ) |
const |
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virtual |
◆ getClassName()
virtual const std::string& dynamicgraph::sot::StepComputerForce::getClassName |
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void |
| ) |
const |
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inlinevirtual |
◆ nextStep()
void dynamicgraph::sot::StepComputerForce::nextStep |
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StepQueue & |
queue, |
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int |
timeCurr |
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) |
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virtual |
◆ CLASS_NAME
const std::string dynamicgraph::sot::StepComputerForce::CLASS_NAME |
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static |
◆ contactFootSIN
SignalPtr< unsigned,int > dynamicgraph::sot::StepComputerForce::contactFootSIN |
◆ displacementSOUT
◆ forceLhandSOUT
◆ forceRhandSOUT
◆ forceSOUT
◆ referencePositionWaistSIN
◆ stiffnessSIN
◆ velocitySIN
◆ waistMlhandSIN
◆ waistMrhandSIN