PatternGeneratorJRL::SupportFSM Class Reference

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

#include <PreviewControl/SupportFSM.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_DSDuration
	Numerical precision *‍/ double m_eps;. 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() [1/2]

SupportFSM::SupportFSM

(

)

Constructor.

~SupportFSM() [1/2]

SupportFSM::~SupportFSM

(

)

Destructor.

SupportFSM() [2/2]

PatternGeneratorJRL::SupportFSM::SupportFSM

(

const double &

SamplingPeriod

)

Constructor

~SupportFSM() [2/2]

PatternGeneratorJRL::SupportFSM::~SupportFSM

(

)

Destructor

Member Function Documentation

DSPeriod() [1/2]

double PatternGeneratorJRL::SupportFSM::DSPeriod ( ) const

inline

DSPeriod() [2/2]

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

inline

DSSSPeriod() [1/2]

double PatternGeneratorJRL::SupportFSM::DSSSPeriod ( ) const

inline

DSSSPeriod() [2/2]

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

inline

NBStepsSSDS()

unsigned PatternGeneratorJRL::SupportFSM::NBStepsSSDS ( ) const

inline

NbStepsSSDS()

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

inline

SamplingPeriod() [1/2]

double PatternGeneratorJRL::SupportFSM::SamplingPeriod ( ) const

inline

SamplingPeriod() [2/2]

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

inline

set_support_state()

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

setSupportState()

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

Initialize the previewed state.

StepPeriod() [1/2]

double PatternGeneratorJRL::SupportFSM::StepPeriod ( ) const

inline

StepPeriod() [2/2]

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

inline

update_vel_reference()

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

Member Data Documentation

m_DSDuration

double PatternGeneratorJRL::SupportFSM::m_DSDuration

Numerical precision *‍/ double m_eps;.

/*! constants for the durations in the support phases

m_DSSSDuration

double PatternGeneratorJRL::SupportFSM::m_DSSSDuration

m_NbOfStepsSSDS

unsigned int PatternGeneratorJRL::SupportFSM::m_NbOfStepsSSDS

m_SSPeriod

double PatternGeneratorJRL::SupportFSM::m_SSPeriod

---

The documentation for this class was generated from the following files:

• src/PreviewControl/SupportFSM.hh
• src/PreviewControl/SupportFSM_backup.hh
• src/PreviewControl/SupportFSM.cpp