dynamicgraph::sot::StepComputerForce Class Reference

Generates footsteps. More...

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

Inheritance diagram for dynamicgraph::sot::StepComputerForce:

Collaboration diagram for dynamicgraph::sot::StepComputerForce:

Public Member Functions
virtual const std::string &	getClassName (void) const
	StepComputerForce (const std::string &name)
void	changeFirstStep (StepQueue &queue, int timeCurr)
void	nextStep (StepQueue &queue, int timeCurr)
Vector &	computeDisplacement (Vector &res, int timeCurr)
Vector &	computeForce (Vector &res, int timeCurr)
Vector &	computeForceL (Vector &res, int timeCurr)
Vector &	computeForceR (Vector &res, int timeCurr)
Vector &	computeHandForce (Vector &res, const MatrixHomogeneous &waMh, const MatrixHomogeneous &waMref, const Vector &F)
virtual void	display (std::ostream &os) const
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
Public Member Functions inherited from dynamicgraph::sot::StepComputer
virtual	~StepComputer ()

Public Attributes
SignalPtr< MatrixHomogeneous, int >	waistMlhandSIN
SignalPtr< MatrixHomogeneous, int >	waistMrhandSIN
SignalPtr< MatrixHomogeneous, int >	referencePositionWaistSIN
SignalPtr< Vector, int >	stiffnessSIN
SignalPtr< Vector, int >	velocitySIN
SignalPtr< unsigned, int >	contactFootSIN
SignalTimeDependent< Vector, int >	displacementSOUT
SignalTimeDependent< Vector, int >	forceSOUT
SignalTimeDependent< Vector, int >	forceLhandSOUT
SignalTimeDependent< Vector, int >	forceRhandSOUT

Static Public Attributes
static const std::string	CLASS_NAME

Detailed Description

Generates footsteps.

Constructor & Destructor Documentation

StepComputerForce()

dynamicgraph::sot::StepComputerForce::StepComputerForce

(

const std::string &

name

)

Member Function Documentation

changeFirstStep()

void dynamicgraph::sot::StepComputerForce::changeFirstStep ( StepQueue &  queue, int  timeCurr  )

virtual

Implements dynamicgraph::sot::StepComputer.

commandLine()

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

virtual

computeDisplacement()

Vector& dynamicgraph::sot::StepComputerForce::computeDisplacement	(	Vector &	res,
		int	timeCurr
	)

computeForce()

Vector& dynamicgraph::sot::StepComputerForce::computeForce	(	Vector &	res,
		int	timeCurr
	)

computeForceL()

Vector& dynamicgraph::sot::StepComputerForce::computeForceL	(	Vector &	res,
		int	timeCurr
	)

computeForceR()

Vector& dynamicgraph::sot::StepComputerForce::computeForceR	(	Vector &	res,
		int	timeCurr
	)

computeHandForce()

Vector& dynamicgraph::sot::StepComputerForce::computeHandForce	(	Vector &	res,
		const MatrixHomogeneous &	waMh,
		const MatrixHomogeneous &	waMref,
		const Vector &	F
	)

display()

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

virtual

getClassName()

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

inlinevirtual

nextStep()

void dynamicgraph::sot::StepComputerForce::nextStep ( StepQueue &  queue, int  timeCurr  )

virtual

Implements dynamicgraph::sot::StepComputer.

Member Data Documentation

CLASS_NAME

const std::string dynamicgraph::sot::StepComputerForce::CLASS_NAME

static

contactFootSIN

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

displacementSOUT

SignalTimeDependent<Vector, int> dynamicgraph::sot::StepComputerForce::displacementSOUT

forceLhandSOUT

SignalTimeDependent<Vector, int> dynamicgraph::sot::StepComputerForce::forceLhandSOUT

forceRhandSOUT

SignalTimeDependent<Vector, int> dynamicgraph::sot::StepComputerForce::forceRhandSOUT

forceSOUT

SignalTimeDependent<Vector, int> dynamicgraph::sot::StepComputerForce::forceSOUT

referencePositionWaistSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::StepComputerForce::referencePositionWaistSIN

stiffnessSIN

SignalPtr<Vector, int> dynamicgraph::sot::StepComputerForce::stiffnessSIN

velocitySIN

SignalPtr<Vector, int> dynamicgraph::sot::StepComputerForce::velocitySIN

waistMlhandSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::StepComputerForce::waistMlhandSIN

waistMrhandSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::StepComputerForce::waistMrhandSIN

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

• include/sot/pattern-generator/step-computer-force.h