dynamicgraph::sot::NextStepTwoHandObserver Class Reference

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

Public Member Functions
	NextStepTwoHandObserver (const std::string &name)
MatrixHomogeneous &	computeReferencePositionLeft (MatrixHomogeneous &res, int timeCurr)
MatrixHomogeneous &	computeReferencePositionRight (MatrixHomogeneous &res, int timeCurr)
Vector &	computeReferenceVelocity (const Vector &right, const Vector &left, Vector &res)
Vector &	computeReferenceAcceleration (const Vector &right, const Vector &left, Vector &res)
SignalArray< int >	getSignals (void)
	operator SignalArray< int > ()

Public Attributes
SignalPtr< MatrixHomogeneous, int >	referencePositionLeftSIN
SignalPtr< Vector, int >	referenceVelocityLeftSIN
SignalPtr< Vector, int >	referenceAccelerationLeftSIN
SignalPtr< MatrixHomogeneous, int >	leftFootPositionSIN
SignalPtr< MatrixHomogeneous, int >	referencePositionRightSIN
SignalPtr< Vector, int >	referenceVelocityRightSIN
SignalPtr< Vector, int >	referenceAccelerationRightSIN
SignalPtr< MatrixHomogeneous, int >	rightFootPositionSIN
SignalTimeDependent< MatrixHomogeneous, int >	referencePositionLeftSOUT
SignalTimeDependent< MatrixHomogeneous, int >	referencePositionRightSOUT
SignalTimeDependent< Vector, int >	referenceVelocitySOUT
SignalTimeDependent< Vector, int >	referenceAccelerationSOUT

Detailed Description

Computes a reference frame in either left or right foot coordinates, based on the position of the hands. Used by the stepper to compute the reference foot prints to send to the Pattern Generator.

Constructor & Destructor Documentation

NextStepTwoHandObserver()

dynamicgraph::sot::NextStepTwoHandObserver::NextStepTwoHandObserver

(

const std::string &

name

)

Member Function Documentation

computeReferenceAcceleration()

Vector& dynamicgraph::sot::NextStepTwoHandObserver::computeReferenceAcceleration	(	const Vector &	right,
		const Vector &	left,
		Vector &	res
	)

computeReferencePositionLeft()

MatrixHomogeneous& dynamicgraph::sot::NextStepTwoHandObserver::computeReferencePositionLeft	(	MatrixHomogeneous &	res,
		int	timeCurr
	)

computeReferencePositionRight()

MatrixHomogeneous& dynamicgraph::sot::NextStepTwoHandObserver::computeReferencePositionRight	(	MatrixHomogeneous &	res,
		int	timeCurr
	)

computeReferenceVelocity()

Vector& dynamicgraph::sot::NextStepTwoHandObserver::computeReferenceVelocity	(	const Vector &	right,
		const Vector &	left,
		Vector &	res
	)

getSignals()

SignalArray<int> dynamicgraph::sot::NextStepTwoHandObserver::getSignals

(

void

)

operator SignalArray< int >()

dynamicgraph::sot::NextStepTwoHandObserver::operator SignalArray< int >

(

)

Member Data Documentation

leftFootPositionSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::NextStepTwoHandObserver::leftFootPositionSIN

referenceAccelerationLeftSIN

SignalPtr<Vector, int> dynamicgraph::sot::NextStepTwoHandObserver::referenceAccelerationLeftSIN

referenceAccelerationRightSIN

SignalPtr<Vector, int> dynamicgraph::sot::NextStepTwoHandObserver::referenceAccelerationRightSIN

referenceAccelerationSOUT

SignalTimeDependent<Vector, int> dynamicgraph::sot::NextStepTwoHandObserver::referenceAccelerationSOUT

referencePositionLeftSIN

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

referencePositionLeftSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::NextStepTwoHandObserver::referencePositionLeftSOUT

referencePositionRightSIN

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

referencePositionRightSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::NextStepTwoHandObserver::referencePositionRightSOUT

referenceVelocityLeftSIN

SignalPtr<Vector, int> dynamicgraph::sot::NextStepTwoHandObserver::referenceVelocityLeftSIN

referenceVelocityRightSIN

SignalPtr<Vector, int> dynamicgraph::sot::NextStepTwoHandObserver::referenceVelocityRightSIN

referenceVelocitySOUT

SignalTimeDependent<Vector, int> dynamicgraph::sot::NextStepTwoHandObserver::referenceVelocitySOUT

rightFootPositionSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::NextStepTwoHandObserver::rightFootPositionSIN

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

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