This object handles trajectory of quantities and publish them as signals. More...

#include <sot/core/joint-trajectory-entity.hh>

Inheritance diagram for dynamicgraph::sot::SotJointTrajectoryEntity:

Public Types
typedef int	Dummy

Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * >	SignalMap

typedef std::map< const std::string, command::Command * >	CommandMap_t

Public Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()

	SotJointTrajectoryEntity (const std::string &name)
	Constructor. More...

virtual	~SotJointTrajectoryEntity ()

void	loadFile (const std::string &name)

dg::Vector &	getNextPosition (dg::Vector &pos, const int &time)
	Return the next pose for the legs. More...

dg::Vector &	getNextCoM (dg::Vector &com, const int &time)
	Return the next com. More...

dg::Vector &	getNextCoP (dg::Vector &cop, const int &time)
	Return the next cop. More...

sot::MatrixHomogeneous &	getNextWaist (sot::MatrixHomogeneous &waist, const int &time)
	Return the next waist. More...

unsigned int &	getSeqId (unsigned int &seqid, const int &time)
	Return the current seq identified of the current trajectory. More...

sot::MatrixHomogeneous	XYZThetaToMatrixHomogeneous (const dg::Vector &xyztheta)
	Convert a xyztheta vector into an homogeneous matrix. More...

int &	OneStepOfUpdate (int &dummy, const int &time)
	Perform one update of the signals. More...

Public Member Functions inherited from dynamicgraph::Entity
	Entity (const std::string &name)

virtual	~Entity ()

const std::string &	getName () const

virtual const std::string &	getClassName () const

virtual std::string	getDocString () const

bool	hasSignal (const std::string &signame) const

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

std::ostream &	displaySignalList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

const std::string &	getCommandList () const

CommandMap_t	getNewStyleCommandMap ()

command::Command *	getNewStyleCommand (const std::string &cmdName)

SignalMap	getSignalMap () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

LoggerVerbosity	getLoggerVerbosityLevel ()

Public Attributes
Signals
Internal signal for synchronisation.
dynamicgraph::SignalTimeDependent< int, int >	refresherSINTERN

SignalTimeDependent< Dummy, int >	OneStepOfUpdateS
	Internal signal to trigger one step of the algorithm. More...

dynamicgraph::SignalTimeDependent< dg::Vector, int >	positionSOUT
	Publish pose for each evaluation of the graph. More...

dynamicgraph::SignalTimeDependent< dg::Vector, int >	comSOUT
	Publish com for each evaluation of the graph. More...

dynamicgraph::SignalTimeDependent< dg::Vector, int >	zmpSOUT
	Publish zmp for each evaluation of the graph. More...

dynamicgraph::SignalTimeDependent< sot::MatrixHomogeneous, int >	waistSOUT
	Publish waist for each evaluation of the graph. More...

dynamicgraph::SignalTimeDependent< unsigned int, int >	seqIdSOUT
	Publish ID of the trajectory currently realized. More...

dynamicgraph::SignalPtr< Trajectory, int >	trajectorySIN
	Read a trajectory. More...

Protected Member Functions
void	UpdatePoint (const JointTrajectoryPoint &aJTP)
	Update the entity with the current point of the trajectory. More...

void	UpdateTrajectory (const Trajectory &aTrajectory)
	Update the entity with the trajectory aTrajectory. More...

void	setInitTraj (const std::string &os)
	Implements the parsing and the affectation of initial trajectory. More...

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityRegistration ()

void	entityDeregistration ()

void	signalRegistration (const SignalArray< int > &signals)

void	signalDeregistration (const std::string &name)

Protected Attributes
std::deque< sot::Trajectory >::size_type	index_
	Index on the point along the trajectory. More...

timestamp	traj_timestamp_
	Keep the starting time as an identifier of the trajector. More...

dg::Vector	pose_
	Store the pos;. More...

dg::Vector	com_
	Store the center of mass. More...

dg::Vector	cop_
	Store the center of pressure ZMP. More...

sot::MatrixHomogeneous	waist_
	Store the waist position. More...

unsigned int	seqid_
	Store the current seq identifier. More...

sot::Trajectory	init_traj_
	Initial state of the trajectory. More...

std::deque< sot::Trajectory >	deque_traj_
	Queue of trajectories. More...

Protected Attributes inherited from dynamicgraph::Entity
std::string	name

SignalMap	signalMap

CommandMap_t	commandMap

Logger	logger_

Display
virtual void	display (std::ostream &os) const

SOTJOINT_TRAJECTORY_ENTITY_EXPORT friend std::ostream &	operator<< (std::ostream &os, const SotJointTrajectoryEntity &r)

Detailed Description

This object handles trajectory of quantities and publish them as signals.

Member Typedef Documentation

typedef int dynamicgraph::sot::SotJointTrajectoryEntity::Dummy

Constructor & Destructor Documentation

dynamicgraph::sot::SotJointTrajectoryEntity::SotJointTrajectoryEntity ( const std::string & name )

Constructor.

virtual dynamicgraph::sot::SotJointTrajectoryEntity::~SotJointTrajectoryEntity ( )

inlinevirtual

References SOTJOINT_TRAJECTORY_ENTITY_EXPORT.

Member Function Documentation

virtual void dynamicgraph::sot::SotJointTrajectoryEntity::display ( std::ostream & os ) const

virtual

Reimplemented from dynamicgraph::Entity.

dynamicgraph::sot::SotJointTrajectoryEntity::DYNAMIC_GRAPH_ENTITY_DECL ( )

dg::Vector& dynamicgraph::sot::SotJointTrajectoryEntity::getNextCoM	(	dg::Vector &	com,
		const int &	time
	)

Return the next com.

dg::Vector& dynamicgraph::sot::SotJointTrajectoryEntity::getNextCoP	(	dg::Vector &	cop,
		const int &	time
	)

Return the next cop.

dg::Vector& dynamicgraph::sot::SotJointTrajectoryEntity::getNextPosition	(	dg::Vector &	pos,
		const int &	time
	)

Return the next pose for the legs.

sot::MatrixHomogeneous& dynamicgraph::sot::SotJointTrajectoryEntity::getNextWaist	(	sot::MatrixHomogeneous &	waist,
		const int &	time
	)

Return the next waist.

unsigned int& dynamicgraph::sot::SotJointTrajectoryEntity::getSeqId	(	unsigned int &	seqid,
		const int &	time
	)

Return the current seq identified of the current trajectory.

void dynamicgraph::sot::SotJointTrajectoryEntity::loadFile ( const std::string & name )

int& dynamicgraph::sot::SotJointTrajectoryEntity::OneStepOfUpdate	(	int &	dummy,
		const int &	time
	)

Perform one update of the signals.

void dynamicgraph::sot::SotJointTrajectoryEntity::setInitTraj ( const std::string & os )

protected

Implements the parsing and the affectation of initial trajectory.

void dynamicgraph::sot::SotJointTrajectoryEntity::UpdatePoint ( const JointTrajectoryPoint & aJTP )

protected

Update the entity with the current point of the trajectory.

void dynamicgraph::sot::SotJointTrajectoryEntity::UpdateTrajectory ( const Trajectory & aTrajectory )

protected

Update the entity with the trajectory aTrajectory.

sot::MatrixHomogeneous dynamicgraph::sot::SotJointTrajectoryEntity::XYZThetaToMatrixHomogeneous ( const dg::Vector & xyztheta )

Convert a xyztheta vector into an homogeneous matrix.

Friends And Related Function Documentation

SOTJOINT_TRAJECTORY_ENTITY_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const SotJointTrajectoryEntity &	r
	)

friend

Member Data Documentation

dg::Vector dynamicgraph::sot::SotJointTrajectoryEntity::com_

protected

Store the center of mass.

dynamicgraph::SignalTimeDependent<dg::Vector,int> dynamicgraph::sot::SotJointTrajectoryEntity::comSOUT

Publish com for each evaluation of the graph.

dg::Vector dynamicgraph::sot::SotJointTrajectoryEntity::cop_

protected

Store the center of pressure ZMP.

std::deque<sot::Trajectory> dynamicgraph::sot::SotJointTrajectoryEntity::deque_traj_

protected

Queue of trajectories.

std::deque<sot::Trajectory>::size_type dynamicgraph::sot::SotJointTrajectoryEntity::index_

protected

Index on the point along the trajectory.

sot::Trajectory dynamicgraph::sot::SotJointTrajectoryEntity::init_traj_

protected

Initial state of the trajectory.

SignalTimeDependent<Dummy,int> dynamicgraph::sot::SotJointTrajectoryEntity::OneStepOfUpdateS

Internal signal to trigger one step of the algorithm.

dg::Vector dynamicgraph::sot::SotJointTrajectoryEntity::pose_

protected

Store the pos;.

dynamicgraph::SignalTimeDependent<dg::Vector,int> dynamicgraph::sot::SotJointTrajectoryEntity::positionSOUT

Publish pose for each evaluation of the graph.

dynamicgraph::SignalTimeDependent<int,int> dynamicgraph::sot::SotJointTrajectoryEntity::refresherSINTERN

unsigned int dynamicgraph::sot::SotJointTrajectoryEntity::seqid_

protected

Store the current seq identifier.

dynamicgraph::SignalTimeDependent<unsigned int,int> dynamicgraph::sot::SotJointTrajectoryEntity::seqIdSOUT

Publish ID of the trajectory currently realized.

timestamp dynamicgraph::sot::SotJointTrajectoryEntity::traj_timestamp_

protected

Keep the starting time as an identifier of the trajector.

dynamicgraph::SignalPtr<Trajectory,int> dynamicgraph::sot::SotJointTrajectoryEntity::trajectorySIN

Read a trajectory.

sot::MatrixHomogeneous dynamicgraph::sot::SotJointTrajectoryEntity::waist_

protected

Store the waist position.

dynamicgraph::SignalTimeDependent<sot::MatrixHomogeneous,int> dynamicgraph::sot::SotJointTrajectoryEntity::waistSOUT

Publish waist for each evaluation of the graph.

dynamicgraph::SignalTimeDependent<dg::Vector,int> dynamicgraph::sot::SotJointTrajectoryEntity::zmpSOUT

Publish zmp for each evaluation of the graph.

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Display

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation