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/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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* Copyright Projet JRL-Japan, 2007 |
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*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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* |
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* File: StepQueue.h |
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* Project: SOT |
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* Author: Paul Evrard, Nicolas Mansard |
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* |
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* Version control |
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* =============== |
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* |
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* $Id$ |
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* |
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* Description |
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* ============ |
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* |
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* StepQueue entity: manages a step queue (a series of future steps, |
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* plus a series of changes in the future steps). |
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* |
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* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ |
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#ifndef __SOT_STEPQUEUE_H__ |
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#define __SOT_STEPQUEUE_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* SOT */ |
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#include <dynamic-graph/entity.h> |
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/* STD */ |
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#include <deque> |
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#include <string> |
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namespace dynamicgraph { |
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namespace sot { |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(step_queue_EXPORTS) |
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#define StepQueue_EXPORT __declspec(dllexport) |
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#else |
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#define StepQueue_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define StepQueue_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/// Support foot identifier. |
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enum ContactName { CONTACT_LEFT_FOOT, CONTACT_RIGHT_FOOT }; |
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class StepQueue_EXPORT FootPrint { |
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public: |
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FootPrint(); |
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FootPrint(double x, double y, double theta, ContactName contact); |
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double x, y, theta; ///< The coordinates of the step (landing position of the |
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///< fly foot). |
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ContactName contact; ///< Fly foot. |
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}; |
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/// A step queue in the preview window. |
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/// A series of step in the preview window. The first step can be modified. |
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/// |
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/// \invariant{The queue always contains 4 steps.} |
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/// \note{This entity class can not be instantiated in a shell since it does not |
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/// register any factory. This behavior is intended.} |
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class StepQueue_EXPORT StepQueue : public Entity { |
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public: // Entity name |
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static const std::string CLASS_NAME; |
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virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
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private: // Parameters |
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static const unsigned int QUEUE_SIZE; |
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static const double ZERO_STEP_POSITION; |
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static const FootPrint START_FOOT_PRINT; |
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public: // Construction |
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/// Builds a queue containing a starting step and three steps in the preview. |
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/// The steps correspond to on-place stepping: (0, +/- y, 0), where |
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/// y == StepQueue::ZERO_STEP_POSITION |
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StepQueue(const std::string &name); |
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public: // Queue manipulation |
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/// Resets the queue to the initial condition (see the constructor, |
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/// StepQueue::StepQueue). |
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void startSequence(); |
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/// Adds a step at the end of the preview window. The step at the beginning |
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/// of the preview window is removed. The firstStepChanged flag is reset to |
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/// false. |
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void pushStep(double x, double y, double theta); |
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//@{ |
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/// Access to the step queue. |
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/// \warning{No check is performed on the indices used in these accessors.} |
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const FootPrint &getStep(unsigned int index) const; |
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const FootPrint &getFirstStep() const; |
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const FootPrint &getLastStep() const; |
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//@} |
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/// Changes the first step. |
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void changeFirstStep(double x, double y, double dtheta); |
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const FootPrint &getFirstStepChange() const; |
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/// Returns true if the first step has been changed since the last call to |
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/// pushStep. |
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bool isFirstStepChanged() const; |
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public: // Queue properties |
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//@{ |
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/// Access to the step queue properties (constants). |
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unsigned int size() const; |
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const FootPrint &getStartFootPrint() const; |
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double getZeroStepPosition() const; |
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//@} |
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public: // Entity |
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virtual void display(std::ostream &os) const; |
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virtual void commandLine(const std::string &cmdLine, |
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std::istringstream &cmdArgs, std::ostream &os); |
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private: |
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std::deque<FootPrint> footPrintList; |
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FootPrint firstStepChange; |
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bool firstStepChanged; |
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}; |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif |