dynamicgraph::sot::StepObserver Class Reference

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

Inheritance diagram for dynamicgraph::sot::StepObserver:

Collaboration diagram for dynamicgraph::sot::StepObserver:

Public Member Functions
virtual const std::string &	getClassName (void) const
	StepObserver (const std::string &name)
SignalArray< int >	getSignals (void)
	operator SignalArray< int > ()
MatrixHomogeneous &	computeReferencePositionLeft (MatrixHomogeneous &res, int timeCurr)
MatrixHomogeneous &	computeReferencePositionRight (MatrixHomogeneous &res, int timeCurr)
MatrixHomogeneous &	computeReferencePositionWaist (MatrixHomogeneous &res, 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 >	leftHandPositionSIN
SignalPtr< MatrixHomogeneous, int >	rightHandPositionSIN
SignalPtr< MatrixHomogeneous, int >	leftFootPositionSIN
SignalPtr< MatrixHomogeneous, int >	rightFootPositionSIN
SignalPtr< MatrixHomogeneous, int >	waistPositionSIN
SignalTimeDependent< MatrixHomogeneous, int >	referencePositionLeftSOUT
	Reference frame in left foot coordinates. More...
SignalTimeDependent< MatrixHomogeneous, int >	referencePositionRightSOUT
	Reference frame in right foot coordinates. More...
SignalTimeDependent< MatrixHomogeneous, int >	referencePositionWaistSOUT
	Reference frame in the waist coordinates. More...

Static Public Attributes
static const std::string	CLASS_NAME

Detailed Description

Computes a reference frame from the position of both hands and feet of the robot. The coordinates of the reference frames are computed both in the left and right foot frames, and in the waist frame.

Constructor & Destructor Documentation

StepObserver()

dynamicgraph::sot::StepObserver::StepObserver

(

const std::string &

name

)

Member Function Documentation

commandLine()

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

virtual

computeReferencePositionLeft()

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

computeReferencePositionRight()

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

computeReferencePositionWaist()

MatrixHomogeneous& dynamicgraph::sot::StepObserver::computeReferencePositionWaist	(	MatrixHomogeneous &	res,
		int	timeCurr
	)

display()

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

virtual

getClassName()

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

inlinevirtual

getSignals()

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

(

void

)

operator SignalArray< int >()

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

(

)

Member Data Documentation

CLASS_NAME

const std::string dynamicgraph::sot::StepObserver::CLASS_NAME

static

leftFootPositionSIN

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

leftHandPositionSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::StepObserver::leftHandPositionSIN

referencePositionLeftSOUT

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

Reference frame in left foot coordinates.

referencePositionRightSOUT

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

Reference frame in right foot coordinates.

referencePositionWaistSOUT

SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::StepObserver::referencePositionWaistSOUT

Reference frame in the waist coordinates.

rightFootPositionSIN

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

rightHandPositionSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::StepObserver::rightHandPositionSIN

waistPositionSIN

SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::StepObserver::waistPositionSIN

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

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