SupportFSM.hh

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/*
 * Copyright 2010,
 *
 * Andrei  Herdt
 * Olivier Stasse
 *
 * JRL, CNRS/AIST
 *
 * This file is part of walkGenJrl.
 * walkGenJrl is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * walkGenJrl is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Lesser Public License for more details.
 * You should have received a copy of the GNU Lesser General Public License
 * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  Research carried out within the scope of the
 *  Joint Japanese-French Robotics Laboratory (JRL)
 */
 
#ifndef _SUPPORT_FSM_
#define _SUPPORT_FSM_
 
#include <jrl/walkgen/pgtypes.hh>
#include <privatepgtypes.hh>
 
namespace PatternGeneratorJRL {
 
class SupportFSM {
  //
  // Public methods:
  //
 public:
  SupportFSM();
 
  ~SupportFSM();
 
  void update_vel_reference(reference_t &Ref,
                            const support_state_t &CurrentSupport);
 
  void set_support_state(double time, unsigned int pi, support_state_t &Support,
                         const reference_t &Ref) const;
 
  inline double StepPeriod() const { return StepPeriod_; };
  inline void StepPeriod(const double StepPeriod) { StepPeriod_ = StepPeriod; };
 
  inline double DSPeriod() const { return DSPeriod_; };
  inline void DSPeriod(const double DSPeriod) { DSPeriod_ = DSPeriod; };
 
  inline double DSSSPeriod() const { return DSSSPeriod_; };
  inline void DSSSPeriod(const double DSSSPeriod) { DSSSPeriod_ = DSSSPeriod; };
 
  inline unsigned NBStepsSSDS() const { return NbStepsSSDS_; };
  inline void NbStepsSSDS(const unsigned NbStepsSSDS) {
    NbStepsSSDS_ = NbStepsSSDS;
  };
 
  inline double SamplingPeriod() const { return T_; };
  inline void SamplingPeriod(const double T) { T_ = T; };
 
  //
  // Private members:
  //
 private:
  unsigned NbStepsSSDS_;
 
  double DSPeriod_;
 
  double StepPeriod_;
 
  double DSSSPeriod_;
 
  double T_;
 
  const double EPS_;
 
  bool InTranslation_;
 
  bool InRotation_;
 
  int NbStepsAfterRotation_;
 
  foot_type_e CurrentSupportFoot_;
 
  bool PostRotationPhase_;
};
}  // namespace PatternGeneratorJRL
 
#endif /* _SUPPORT_FSM_ */