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20 #ifndef __SOT_SOTNEXTSTEP_H__
21 #define __SOT_SOTNEXTSTEP_H__
27 #include <pinocchio/fwd.hpp>
30 #include <dynamic-graph/entity.h>
31 #include <dynamic-graph/signal-ptr.h>
32 #include <dynamic-graph/signal-time-dependent.h>
33 #include <sot/core/matrix-geometry.hh>
44 #if defined(next_step_EXPORTS)
45 #define SOTNEXTSTEP_EXPORT __declspec(dllexport)
47 #define SOTNEXTSTEP_EXPORT __declspec(dllimport)
50 #define SOTNEXTSTEP_EXPORT
87 MatrixHomogeneous &computeReferencePositionLeft(MatrixHomogeneous &res,
89 MatrixHomogeneous &computeReferencePositionRight(MatrixHomogeneous &res,
91 Vector &computeReferenceVelocity(
const Vector &right,
const Vector &left,
93 Vector &computeReferenceAcceleration(
const Vector &right,
const Vector &left,
96 SignalArray<int> getSignals(
void);
97 operator SignalArray<int>();
100 MatrixHomogeneous &computeRefPos(MatrixHomogeneous &res,
int timeCurr,
101 const MatrixHomogeneous &wMsf);
116 DYNAMIC_GRAPH_ENTITY_DECL();
174 virtual void nextStep(
const int &timeCurr);
175 virtual void starter(
const int &timeCurr);
176 virtual void stoper(
const int &timeCurr);
180 int &triggerCall(
int &dummy,
int timeCurr);
183 virtual void display(std::ostream &os)
const;
184 virtual void commandLine(
const std::string &cmdLine,
185 std::istringstream &cmdArgs, std::ostream &os);
191 #endif // #ifndef __SOT_SOTNEXTSTEP_H__
SignalTimeDependent< MatrixHomogeneous, int > referencePositionRightSOUT
Definition: next-step.h:80
MatrixHomogeneous lfMref0
Definition: next-step.h:154
SteppingMode
Definition: next-step.h:134
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
Definition: next-step.h:74
virtual void introductionCallBack(const int &)
Definition: next-step.h:178
SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
Definition: next-step.h:167
SignalTimeDependent< Vector, int > referenceAccelerationSOUT
Definition: next-step.h:82
SignalPtr< Vector, int > referenceVelocityRightSIN
Definition: next-step.h:75
SignalTimeDependent< Vector, int > referenceVelocitySOUT
Definition: next-step.h:81
@ CONTACT_LEFT_FOOT
Definition: step-queue.h:58
#define SOTNEXTSTEP_EXPORT
Definition: next-step.h:50
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
Definition: next-step.h:168
Definition: exception-pg.h:47
MatrixHomogeneous rfMref0
Definition: next-step.h:153
SignalPtr< Vector, int > referenceAccelerationRightSIN
Definition: next-step.h:76
SignalPtr< Vector, int > referenceAccelerationLeftSIN
Definition: next-step.h:71
int timeLastIntroduction
Definition: next-step.h:131
SignalPtr< MatrixHomogeneous, int > leftFootPositionSIN
Definition: next-step.h:72
SignalPtr< Vector, int > referenceVelocityLeftSIN
Definition: next-step.h:70
SteppingState state
Definition: next-step.h:146
Definition: next-step.h:67
unsigned int period
Definition: next-step.h:129
SteppingState
Definition: next-step.h:136
SignalPtr< MatrixHomogeneous, int > rightFootPositionSIN
Definition: next-step.h:77
double zeroStepPosition
Definition: next-step.h:149
static const double ZERO_STEP_POSITION_DEFAULT
Definition: next-step.h:150
Definition: next-step.h:114
SignalTimeDependent< MatrixHomogeneous, int > referencePositionLeftSOUT
Definition: next-step.h:79
std::deque< FootPrint > footPrintList
Definition: next-step.h:126
SteppingMode mode
Definition: next-step.h:135
SignalPtr< unsigned, int > contactFootSIN
Definition: next-step.h:169
SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
Definition: next-step.h:69
NextStepTwoHandObserver twoHandObserver
Definition: next-step.h:155
static const unsigned int PERIOD_DEFAULT
Definition: next-step.h:130
Signal< int, int > triggerSOUT
Definition: next-step.h:171
@ CONTACT_RIGHT_FOOT
Definition: step-queue.h:58
std::ostream * verbose
Definition: next-step.h:160
ContactName
Definition: next-step.h:119