dynamicgraph::sot::NextStep Class Reference

#include <sot/pattern-generator/next-step.h>

Inheritance diagram for dynamicgraph::sot::NextStep:

Collaboration diagram for dynamicgraph::sot::NextStep:

Classes
class	FootPrint

Public Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()
	NextStep (const std::string &name)
virtual	~NextStep (void)
virtual void	nextStep (const int &timeCurr)
virtual void	starter (const int &timeCurr)
virtual void	stoper (const int &timeCurr)
virtual void	introductionCallBack (const int &)
int &	triggerCall (int &dummy, int timeCurr)
virtual void	display (std::ostream &os) const
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)

Public Attributes
SignalPtr< MatrixHomogeneous, int >	referencePositionLeftSIN
SignalPtr< MatrixHomogeneous, int >	referencePositionRightSIN
SignalPtr< unsigned, int >	contactFootSIN
Signal< int, int >	triggerSOUT

Protected Types
enum	ContactName { CONTACT_LEFT_FOOT, CONTACT_RIGHT_FOOT }
enum	SteppingMode { MODE_1D, MODE_3D }
enum	SteppingState { STATE_STARTING, STATE_STOPING, STATE_STARTED, STATE_STOPED }

Protected Member Functions
void	thisIsZero ()

Protected Attributes
std::deque< FootPrint >	footPrintList
unsigned int	period
int	timeLastIntroduction
SteppingMode	mode
SteppingState	state
double	zeroStepPosition
MatrixHomogeneous	rfMref0
MatrixHomogeneous	lfMref0
NextStepTwoHandObserver	twoHandObserver
std::ostream *	verbose

Static Protected Attributes
static const unsigned int	PERIOD_DEFAULT
static const double	ZERO_STEP_POSITION_DEFAULT

Detailed Description

Generates footsteps depending on the frame computed by the TwoHandObserver and the interpretation of the sensor forces. A stack of 4 foot prints is maintained, and at each step, two steps are computed: one step to push at the end of the stack, and a step computed from the i-th step of the stack + delta, which corresponds to a change in the future steps.

Member Enumeration Documentation

ContactName

enum dynamicgraph::sot::NextStep::ContactName

protected

Enumerator
CONTACT_LEFT_FOOT
CONTACT_RIGHT_FOOT

SteppingMode

enum dynamicgraph::sot::NextStep::SteppingMode

protected

Enumerator
MODE_1D
MODE_3D

SteppingState

enum dynamicgraph::sot::NextStep::SteppingState

protected

Enumerator
STATE_STARTING	Introducing 4 steps then switches to STATE_STARTED.
STATE_STOPING	Running but stop requested: introduce a last step.
STATE_STARTED	Running, simply introduce steps.
STATE_STOPED	Nothing to do, cannot introduce steps in the FIFO.

Constructor & Destructor Documentation

NextStep()

dynamicgraph::sot::NextStep::NextStep

(

const std::string &

name

)

~NextStep()

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

virtual

Member Function Documentation

commandLine()

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

virtual

Reimplemented in dynamicgraph::sot::NextStepPgSot.

display()

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

virtual

DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::NextStep::DYNAMIC_GRAPH_ENTITY_DECL

(

)

introductionCallBack()

virtual void dynamicgraph::sot::NextStep::introductionCallBack ( const int &  )

inlinevirtual

Reimplemented in dynamicgraph::sot::NextStepPgSot.

nextStep()

virtual void dynamicgraph::sot::NextStep::nextStep ( const int &  timeCurr )

virtual

starter()

virtual void dynamicgraph::sot::NextStep::starter ( const int &  timeCurr )

virtual

Reimplemented in dynamicgraph::sot::NextStepPgSot.

stoper()

virtual void dynamicgraph::sot::NextStep::stoper ( const int &  timeCurr )

virtual

Reimplemented in dynamicgraph::sot::NextStepPgSot.

thisIsZero()

void dynamicgraph::sot::NextStep::thisIsZero ( )

protected

triggerCall()

int& dynamicgraph::sot::NextStep::triggerCall	(	int &	dummy,
		int	timeCurr
	)

Member Data Documentation

contactFootSIN

SignalPtr<unsigned, int> dynamicgraph::sot::NextStep::contactFootSIN

footPrintList

std::deque<FootPrint> dynamicgraph::sot::NextStep::footPrintList

protected

lfMref0

MatrixHomogeneous dynamicgraph::sot::NextStep::lfMref0

protected

mode

SteppingMode dynamicgraph::sot::NextStep::mode

protected

period

unsigned int dynamicgraph::sot::NextStep::period

protected

PERIOD_DEFAULT

const unsigned int dynamicgraph::sot::NextStep::PERIOD_DEFAULT

staticprotected

referencePositionLeftSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::NextStep::referencePositionLeftSIN

referencePositionRightSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::NextStep::referencePositionRightSIN

rfMref0

MatrixHomogeneous dynamicgraph::sot::NextStep::rfMref0

protected

state

SteppingState dynamicgraph::sot::NextStep::state

protected

timeLastIntroduction

int dynamicgraph::sot::NextStep::timeLastIntroduction

protected

triggerSOUT

Signal<int, int> dynamicgraph::sot::NextStep::triggerSOUT

twoHandObserver

NextStepTwoHandObserver dynamicgraph::sot::NextStep::twoHandObserver

protected

verbose

std::ostream* dynamicgraph::sot::NextStep::verbose

protected

ZERO_STEP_POSITION_DEFAULT

const double dynamicgraph::sot::NextStep::ZERO_STEP_POSITION_DEFAULT

staticprotected

zeroStepPosition

double dynamicgraph::sot::NextStep::zeroStepPosition

protected

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

• include/sot/pattern-generator/next-step.h