PatternGeneratorJRL::SupportFSM Class Reference

Finite state machine to determine the support parameters. More...

#include <PreviewControl/SupportFSM_backup.hh>

Public Member Functions
	SupportFSM ()
	Constructor. More...
	~SupportFSM ()
	Destructor. More...
void	update_vel_reference (reference_t &Ref, const support_state_t &CurrentSupport)
	Update the velocity reference after a pure rotation. More...
void	set_support_state (double time, unsigned int pi, support_state_t &Support, const reference_t &Ref) const
	Initialize the previewed state. More...
	SupportFSM (const double &SamplingPeriod)
	~SupportFSM ()
void	setSupportState (const double &Time, const int &pi, SupportState_t &Support, const ReferenceAbsoluteVelocity &RefVel)
	Initialize the previewed state. More...
Accessors
double	StepPeriod () const
void	StepPeriod (const double StepPeriod)
double	DSPeriod () const
void	DSPeriod (const double DSPeriod)
double	DSSSPeriod () const
void	DSSSPeriod (const double DSSSPeriod)
unsigned	NBStepsSSDS () const
void	NbStepsSSDS (const unsigned NbStepsSSDS)
double	SamplingPeriod () const
void	SamplingPeriod (const double T)

Public Attributes
double	m_eps
	Numerical precision. More...
double	m_DSDuration
	constants for the durations in the support phases More...
double	m_SSPeriod
double	m_DSSSDuration
unsigned int	m_NbOfStepsSSDS

Detailed Description

Finite state machine to determine the support parameters.

Constructor & Destructor Documentation

SupportFSM::SupportFSM

(

)

Constructor.

SupportFSM::~SupportFSM

(

)

Destructor.

PatternGeneratorJRL::SupportFSM::SupportFSM

(

const double &

SamplingPeriod

)

Constructor

PatternGeneratorJRL::SupportFSM::~SupportFSM

(

)

Destructor

Member Function Documentation

double PatternGeneratorJRL::SupportFSM::DSPeriod ( ) const

inline

Referenced by DSPeriod().

void PatternGeneratorJRL::SupportFSM::DSPeriod ( const double  DSPeriod )

inline

References DSPeriod().

double PatternGeneratorJRL::SupportFSM::DSSSPeriod ( ) const

inline

Referenced by DSSSPeriod().

void PatternGeneratorJRL::SupportFSM::DSSSPeriod ( const double  DSSSPeriod )

inline

References DSSSPeriod().

unsigned PatternGeneratorJRL::SupportFSM::NBStepsSSDS ( ) const

inline

void PatternGeneratorJRL::SupportFSM::NbStepsSSDS ( const unsigned  NbStepsSSDS )

inline

double PatternGeneratorJRL::SupportFSM::SamplingPeriod ( ) const

inline

void PatternGeneratorJRL::SupportFSM::SamplingPeriod ( const double  T )

inline

void SupportFSM::set_support_state	(	double	time,
		unsigned int	pi,
		support_state_t &	Support,
		const reference_t &	Ref
	)		const

Initialize the previewed state.

Parameters

[in]	time	Current time
[in]	pi	Number of (p)reviewed sampling (i)nstant inside the preview period
[out]	Support	Support state to be actualized
[in]	Ref	Trajectory reference

Referenced by update_vel_reference().

void PatternGeneratorJRL::SupportFSM::setSupportState	(	const double &	Time,
		const int &	pi,
		SupportState_t &	Support,
		const ReferenceAbsoluteVelocity &	RefVel
	)

Initialize the previewed state.

double PatternGeneratorJRL::SupportFSM::StepPeriod ( ) const

inline

Referenced by StepPeriod().

void PatternGeneratorJRL::SupportFSM::StepPeriod ( const double  StepPeriod )

inline

References StepPeriod().

void SupportFSM::update_vel_reference	(	reference_t &	Ref,
		const support_state_t &	CurrentSupport
	)

Update the velocity reference after a pure rotation.

Parameters

[in]	Ref
[in]	CurrentSupport

References set_support_state().

Member Data Documentation

double PatternGeneratorJRL::SupportFSM::m_DSDuration

constants for the durations in the support phases

double PatternGeneratorJRL::SupportFSM::m_DSSSDuration

double PatternGeneratorJRL::SupportFSM::m_eps

Numerical precision.

unsigned int PatternGeneratorJRL::SupportFSM::m_NbOfStepsSSDS

double PatternGeneratorJRL::SupportFSM::m_SSPeriod