20#ifndef __SOT_NextStep_OHRP_H__
21#define __SOT_NextStep_OHRP_H__
40#if defined(next_step_pg_sot_EXPORTS)
41#define NextStepPGSOT_EXPORT __declspec(dllexport)
43#define NextStepPGSOT_EXPORT __declspec(dllimport)
46#define NextStepPGSOT_EXPORT
59 static const unsigned int ADDING_STEP = 0;
60 static const unsigned int CHANGING_STEP = 1;
63 typedef std::pair<unsigned int, PatternGeneratorJRL::FootAbsolutePosition>
73 pg::PatternGeneratorInterface *
m_PGI;
84 virtual void starter(
const int &timeCurr);
85 virtual void stoper(
const int &timeCurr);
90 std::istringstream &cmdArgs, std::ostream &os);
Definition next-step-pg-sot.h:56
virtual void introductionCallBack(const int &timeCurr)
double m_NextStepTime
Definition next-step-pg-sot.h:69
virtual void commandLine(const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
PatternGenerator * m_sPG
Pointer towards the entity which handle the pattern generator.
Definition next-step-pg-sot.h:77
unsigned int m_StepModificationMode
Definition next-step-pg-sot.h:68
DYNAMIC_GRAPH_ENTITY_DECL()
std::pair< unsigned int, PatternGeneratorJRL::FootAbsolutePosition > FootPrint_t
Definition next-step-pg-sot.h:64
virtual ~NextStepPgSot(void)
Definition next-step-pg-sot.h:81
Entity * pgEntity
Definition next-step-pg-sot.h:67
pg::PatternGeneratorInterface * m_PGI
Pointer towards the interface of the pattern generator.
Definition next-step-pg-sot.h:73
virtual void stoper(const int &timeCurr)
virtual void starter(const int &timeCurr)
std::vector< FootPrint_t > stepbuf
Definition next-step-pg-sot.h:65
NextStepPgSot(const std::string &name)
unsigned int m_NbOfFirstSteps
Definition next-step-pg-sot.h:70
Definition next-step.h:115
This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implem...
Definition pg.h:84
Definition exception-pg.h:47
#define NextStepPGSOT_EXPORT
Definition next-step-pg-sot.h:46