dynamicgraph::sot::NextStep Class Reference

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

Inheritance diagram for dynamicgraph::sot::NextStep:
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Collaboration diagram for dynamicgraph::sot::NextStep:
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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 &)
 
int & triggerCall (int &dummy, int timeCurr)
 
virtual void display (std::ostream &os) const
 
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 
- Public Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
virtual const std::string & getClassName () const
 
virtual std::string getDocString () const
 
bool hasSignal (const std::string &signame) const
 
SignalBase< int > & getSignal (const std::string &signalName)
 
const SignalBase< int > & getSignal (const std::string &signalName) const
 
std::ostream & displaySignalList (std::ostream &os) const
 
virtual std::ostream & writeGraph (std::ostream &os) const
 
virtual std::ostream & writeCompletionList (std::ostream &os) const
 
virtual SignalBase< int > * test ()
 
virtual void test2 (SignalBase< int > *)
 
const std::string & getCommandList () const
 
CommandMap_t getNewStyleCommandMap ()
 
command::CommandgetNewStyleCommand (const std::string &cmdName)
 
SignalMap getSignalMap () const
 
void sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
 
void setLoggerVerbosityLevel (LoggerVerbosity lv)
 
LoggerVerbosity getLoggerVerbosityLevel ()
 
bool setTimeSample (double t)
 
double getTimeSample ()
 
bool setStreamPrintPeriod (double t)
 
double getStreamPrintPeriod ()
 

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 Member Functions inherited from dynamicgraph::Entity
void addCommand (const std::string &name, command::Command *command)
 
void entityRegistration ()
 
void entityDeregistration ()
 
void signalRegistration (const SignalArray< int > &signals)
 
void signalDeregistration (const std::string &name)
 

Protected Attributes

std::deque< FootPrintfootPrintList
 
unsigned int period
 
int timeLastIntroduction
 
SteppingMode mode
 
SteppingState state
 
double zeroStepPosition
 
MatrixHomogeneous rfMref0
 
MatrixHomogeneous lfMref0
 
NextStepTwoHandObserver twoHandObserver
 
std::ostream * verbose
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
Logger logger_
 

Static Protected Attributes

static const unsigned int PERIOD_DEFAULT
 
static const double ZERO_STEP_POSITION_DEFAULT
 

Additional Inherited Members

- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > *> SignalMap
 
typedef std::map< const std::string, command::Command *> CommandMap_t
 

Detailed Description

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.

Member Enumeration Documentation

◆ ContactName

Enumerator
CONTACT_LEFT_FOOT 
CONTACT_RIGHT_FOOT 

◆ SteppingMode

Enumerator
MODE_1D 
MODE_3D 

◆ SteppingState

Enumerator
STATE_STARTING 

Introducing 4 steps then switches to STATE_STARTED.

STATE_STOPING 

Running but stop requested: introduce a last step.

STATE_STARTED 

Running, simply introduce steps.

STATE_STOPED 

Nothing to do, cannot introduce steps in the FIFO.

Constructor & Destructor Documentation

◆ NextStep()

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

◆ ~NextStep()

virtual dynamicgraph::sot::NextStep::~NextStep ( void  )
virtual

Member Function Documentation

◆ commandLine()

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

◆ display()

virtual void dynamicgraph::sot::NextStep::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

◆ DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::NextStep::DYNAMIC_GRAPH_ENTITY_DECL ( )

◆ introductionCallBack()

virtual void dynamicgraph::sot::NextStep::introductionCallBack ( const int &  )
inlinevirtual

◆ nextStep()

virtual void dynamicgraph::sot::NextStep::nextStep ( const int &  timeCurr)
virtual

◆ starter()

virtual void dynamicgraph::sot::NextStep::starter ( const int &  timeCurr)
virtual

◆ stoper()

virtual void dynamicgraph::sot::NextStep::stoper ( const int &  timeCurr)
virtual

◆ thisIsZero()

void dynamicgraph::sot::NextStep::thisIsZero ( )
protected

◆ triggerCall()

int& dynamicgraph::sot::NextStep::triggerCall ( int &  dummy,
int  timeCurr 
)

Member Data Documentation

◆ contactFootSIN

SignalPtr<unsigned, int> dynamicgraph::sot::NextStep::contactFootSIN

◆ footPrintList

std::deque<FootPrint> dynamicgraph::sot::NextStep::footPrintList
protected

◆ lfMref0

MatrixHomogeneous dynamicgraph::sot::NextStep::lfMref0
protected

◆ mode

SteppingMode dynamicgraph::sot::NextStep::mode
protected

◆ period

unsigned int dynamicgraph::sot::NextStep::period
protected

◆ PERIOD_DEFAULT

const unsigned int dynamicgraph::sot::NextStep::PERIOD_DEFAULT
staticprotected

◆ referencePositionLeftSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::NextStep::referencePositionLeftSIN

◆ referencePositionRightSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::NextStep::referencePositionRightSIN

◆ rfMref0

MatrixHomogeneous dynamicgraph::sot::NextStep::rfMref0
protected

◆ state

SteppingState dynamicgraph::sot::NextStep::state
protected

◆ timeLastIntroduction

int dynamicgraph::sot::NextStep::timeLastIntroduction
protected

◆ triggerSOUT

Signal<int, int> dynamicgraph::sot::NextStep::triggerSOUT

◆ twoHandObserver

NextStepTwoHandObserver dynamicgraph::sot::NextStep::twoHandObserver
protected

◆ verbose

std::ostream* dynamicgraph::sot::NextStep::verbose
protected

◆ ZERO_STEP_POSITION_DEFAULT

const double dynamicgraph::sot::NextStep::ZERO_STEP_POSITION_DEFAULT
staticprotected

◆ zeroStepPosition

double dynamicgraph::sot::NextStep::zeroStepPosition
protected