SupportFSM_backup.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)
 */
/* This object provides the finite state machine to determine the support
 * parameters. */
 
#ifndef _SUPPORT_FSM_
#define _SUPPORT_FSM_
 
#include <jrl/walkgen/pgtypes.hh>
#include <privatepgtypes.hh>
 
namespace PatternGeneratorJRL {
class SupportFSM {
 public:
  SupportFSM(const double &SamplingPeriod);
 
  ~SupportFSM();
 
  void setSupportState(const double &Time, const int &pi,
                       SupportState_t &Support,
                       const ReferenceAbsoluteVelocity &RefVel);
 
  double m_eps;
 
  double m_DSDuration, m_SSPeriod, m_DSSSDuration;
 
  // Number of steps done before DS
  unsigned int m_NbOfStepsSSDS;
 
 private:
  double m_T;
 
  bool m_ReferenceGiven;
 
  int m_FullDebug;
};
}  // namespace PatternGeneratorJRL
 
#endif /* _SUPPORT_FSM_ */