dynamicgraph::sot::WhichFootUpper Class Reference

#include <sot/pattern-generator/which-foot-upper.h>

Inheritance diagram for dynamicgraph::sot::WhichFootUpper:

Collaboration diagram for dynamicgraph::sot::WhichFootUpper:

Public Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()
	WhichFootUpper (const std::string &name)
virtual	~WhichFootUpper (void)
MatrixRotation &	computeRotationMatrix (MatrixRotation &rotMat, int time)
unsigned int &	whichFoot (const MatrixHomogeneous &waistMlfoot, const MatrixHomogeneous &waistMrfoot, unsigned int &res)
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)

Static Public Member Functions
static MatrixHomogeneous &	computeFootPosition (const MatrixHomogeneous &waistMfoot, const MatrixRotation &waistRsensor, const MatrixRotation &worldRsensor, MatrixHomogeneous &res)

Public Attributes
SignalPtr< MatrixRotation, int >	waistRsensorSIN
SignalPtr< MatrixRotation, int >	worldRsensorSIN
SignalPtr< MatrixHomogeneous, int >	waistMlfootSIN
SignalPtr< MatrixHomogeneous, int >	waistMrfootSIN
SignalTimeDependent< MatrixHomogeneous, int >	worldMlfootSOUT
SignalTimeDependent< MatrixHomogeneous, int >	worldMrfootSOUT
SignalTimeDependent< unsigned int, int >	whichFootSOUT
SignalPtr< MatrixHomogeneous, int >	waistMsensorSIN
SignalTimeDependent< MatrixRotation, int >	waistRsensorSOUT

Protected Attributes
unsigned int	indexLeftFoot
unsigned int	indexRightFoot
double	triggerThreshold
unsigned int	lastFoot

Static Protected Attributes
static const unsigned int	INDEX_LEFT_FOOT_DEFAULT
static const unsigned int	INDEX_RIGHT_FOOT_DEFAULT
static const double	TRIGGER_THRESHOLD_DEFAULT

Constructor & Destructor Documentation

WhichFootUpper()

dynamicgraph::sot::WhichFootUpper::WhichFootUpper

(

const std::string &

name

)

~WhichFootUpper()

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

virtual

Member Function Documentation

commandLine()

virtual void dynamicgraph::sot::WhichFootUpper::commandLine ( const std::string &  cmdLine, std::istringstream &  cmdArgs, std::ostream &  os  )

virtual

computeFootPosition()

static MatrixHomogeneous& dynamicgraph::sot::WhichFootUpper::computeFootPosition ( const MatrixHomogeneous &  waistMfoot, const MatrixRotation &  waistRsensor, const MatrixRotation &  worldRsensor, MatrixHomogeneous &  res  )

static

computeRotationMatrix()

MatrixRotation& dynamicgraph::sot::WhichFootUpper::computeRotationMatrix	(	MatrixRotation &	rotMat,
		int	time
	)

DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::WhichFootUpper::DYNAMIC_GRAPH_ENTITY_DECL

(

)

whichFoot()

unsigned int& dynamicgraph::sot::WhichFootUpper::whichFoot	(	const MatrixHomogeneous &	waistMlfoot,
		const MatrixHomogeneous &	waistMrfoot,
		unsigned int &	res
	)

Member Data Documentation

INDEX_LEFT_FOOT_DEFAULT

const unsigned int dynamicgraph::sot::WhichFootUpper::INDEX_LEFT_FOOT_DEFAULT

staticprotected

INDEX_RIGHT_FOOT_DEFAULT

const unsigned int dynamicgraph::sot::WhichFootUpper::INDEX_RIGHT_FOOT_DEFAULT

staticprotected

indexLeftFoot

unsigned int dynamicgraph::sot::WhichFootUpper::indexLeftFoot

protected

indexRightFoot

unsigned int dynamicgraph::sot::WhichFootUpper::indexRightFoot

protected

lastFoot

unsigned int dynamicgraph::sot::WhichFootUpper::lastFoot

protected

TRIGGER_THRESHOLD_DEFAULT

const double dynamicgraph::sot::WhichFootUpper::TRIGGER_THRESHOLD_DEFAULT

staticprotected

triggerThreshold

double dynamicgraph::sot::WhichFootUpper::triggerThreshold

protected

waistMlfootSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::WhichFootUpper::waistMlfootSIN

waistMrfootSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::WhichFootUpper::waistMrfootSIN

waistMsensorSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::WhichFootUpper::waistMsensorSIN

waistRsensorSIN

SignalPtr<MatrixRotation, int> dynamicgraph::sot::WhichFootUpper::waistRsensorSIN

waistRsensorSOUT

SignalTimeDependent<MatrixRotation, int> dynamicgraph::sot::WhichFootUpper::waistRsensorSOUT

whichFootSOUT

SignalTimeDependent<unsigned int, int> dynamicgraph::sot::WhichFootUpper::whichFootSOUT

worldMlfootSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::WhichFootUpper::worldMlfootSOUT

worldMrfootSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::WhichFootUpper::worldMrfootSOUT

worldRsensorSIN

SignalPtr<MatrixRotation, int> dynamicgraph::sot::WhichFootUpper::worldRsensorSIN

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

• include/sot/pattern-generator/which-foot-upper.h