dynamicgraph::sot::ZmprefFromCom Class Reference

#include <sot/dynamic-pinocchio/zmpreffromcom.h>

Inheritance diagram for dynamicgraph::sot::ZmprefFromCom:

Collaboration diagram for dynamicgraph::sot::ZmprefFromCom:

Public Member Functions
virtual const std::string &	getClassName (void) const
	ZmprefFromCom (const std::string &name)
virtual	~ZmprefFromCom (void)
dynamicgraph::Vector &	computeZmpref (dynamicgraph::Vector &res, const int &time)

Public Attributes
double	dt
double	footHeight
dg::SignalPtr< MatrixHomogeneous, int >	waistPositionSIN
dg::SignalPtr< dynamicgraph::Vector, int >	comPositionSIN
dg::SignalPtr< dynamicgraph::Vector, int >	dcomSIN
dg::SignalTimeDependent< dynamicgraph::Vector, int >	zmprefSOUT

Static Public Attributes
static const std::string	CLASS_NAME
static const double	DT_DEFAULT
static const double	FOOT_HEIGHT_DEFAULT

Constructor & Destructor Documentation

ZmprefFromCom()

dynamicgraph::sot::ZmprefFromCom::ZmprefFromCom

(

const std::string &

name

)

~ZmprefFromCom()

virtual dynamicgraph::sot::ZmprefFromCom::~ZmprefFromCom ( void  )

virtual

Member Function Documentation

computeZmpref()

dynamicgraph::Vector& dynamicgraph::sot::ZmprefFromCom::computeZmpref	(	dynamicgraph::Vector &	res,
		const int &	time
	)

getClassName()

virtual const std::string& dynamicgraph::sot::ZmprefFromCom::getClassName ( void  ) const

inlinevirtual

Member Data Documentation

CLASS_NAME

const std::string dynamicgraph::sot::ZmprefFromCom::CLASS_NAME

static

comPositionSIN

dg::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ZmprefFromCom::comPositionSIN

dcomSIN

dg::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ZmprefFromCom::dcomSIN

dt

double dynamicgraph::sot::ZmprefFromCom::dt

DT_DEFAULT

const double dynamicgraph::sot::ZmprefFromCom::DT_DEFAULT

static

FOOT_HEIGHT_DEFAULT

const double dynamicgraph::sot::ZmprefFromCom::FOOT_HEIGHT_DEFAULT

static

footHeight

double dynamicgraph::sot::ZmprefFromCom::footHeight

waistPositionSIN

dg::SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::ZmprefFromCom::waistPositionSIN

zmprefSOUT

dg::SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::ZmprefFromCom::zmprefSOUT

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

• include/sot/dynamic-pinocchio/zmpreffromcom.h