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20 #ifndef __SOT_SOTNEXTSTEP_H__
21 #define __SOT_SOTNEXTSTEP_H__
27 #include <pinocchio/fwd.hpp>
30 #include <dynamic-graph/entity.h>
31 #include <dynamic-graph/signal-ptr.h>
32 #include <dynamic-graph/signal-time-dependent.h>
34 #include <sot/core/matrix-geometry.hh>
45 #if defined(next_step_EXPORTS)
46 #define SOTNEXTSTEP_EXPORT __declspec(dllexport)
48 #define SOTNEXTSTEP_EXPORT __declspec(dllimport)
51 #define SOTNEXTSTEP_EXPORT
88 MatrixHomogeneous &computeReferencePositionLeft(MatrixHomogeneous &res,
90 MatrixHomogeneous &computeReferencePositionRight(MatrixHomogeneous &res,
92 Vector &computeReferenceVelocity(
const Vector &right,
const Vector &left,
94 Vector &computeReferenceAcceleration(
const Vector &right,
const Vector &left,
97 SignalArray<int> getSignals(
void);
98 operator SignalArray<int>();
101 MatrixHomogeneous &computeRefPos(MatrixHomogeneous &res,
int timeCurr,
102 const MatrixHomogeneous &wMsf);
117 DYNAMIC_GRAPH_ENTITY_DECL();
175 virtual void nextStep(
const int &timeCurr);
176 virtual void starter(
const int &timeCurr);
177 virtual void stoper(
const int &timeCurr);
181 int &triggerCall(
int &dummy,
int timeCurr);
184 virtual void display(std::ostream &os)
const;
185 virtual void commandLine(
const std::string &cmdLine,
186 std::istringstream &cmdArgs, std::ostream &os);
192 #endif // #ifndef __SOT_SOTNEXTSTEP_H__
SignalTimeDependent< MatrixHomogeneous, int > referencePositionRightSOUT
Definition: next-step.h:81
MatrixHomogeneous lfMref0
Definition: next-step.h:155
SteppingMode
Definition: next-step.h:135
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
Definition: next-step.h:75
virtual void introductionCallBack(const int &)
Definition: next-step.h:179
SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
Definition: next-step.h:168
SignalTimeDependent< Vector, int > referenceAccelerationSOUT
Definition: next-step.h:83
SignalPtr< Vector, int > referenceVelocityRightSIN
Definition: next-step.h:76
SignalTimeDependent< Vector, int > referenceVelocitySOUT
Definition: next-step.h:82
@ CONTACT_LEFT_FOOT
Definition: step-queue.h:58
#define SOTNEXTSTEP_EXPORT
Definition: next-step.h:51
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
Definition: next-step.h:169
Definition: exception-pg.h:47
MatrixHomogeneous rfMref0
Definition: next-step.h:154
SignalPtr< Vector, int > referenceAccelerationRightSIN
Definition: next-step.h:77
SignalPtr< Vector, int > referenceAccelerationLeftSIN
Definition: next-step.h:72
int timeLastIntroduction
Definition: next-step.h:132
SignalPtr< MatrixHomogeneous, int > leftFootPositionSIN
Definition: next-step.h:73
SignalPtr< Vector, int > referenceVelocityLeftSIN
Definition: next-step.h:71
SteppingState state
Definition: next-step.h:147
Definition: next-step.h:68
unsigned int period
Definition: next-step.h:130
SteppingState
Definition: next-step.h:137
SignalPtr< MatrixHomogeneous, int > rightFootPositionSIN
Definition: next-step.h:78
double zeroStepPosition
Definition: next-step.h:150
static const double ZERO_STEP_POSITION_DEFAULT
Definition: next-step.h:151
Definition: next-step.h:115
SignalTimeDependent< MatrixHomogeneous, int > referencePositionLeftSOUT
Definition: next-step.h:80
std::deque< FootPrint > footPrintList
Definition: next-step.h:127
SteppingMode mode
Definition: next-step.h:136
SignalPtr< unsigned, int > contactFootSIN
Definition: next-step.h:170
SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
Definition: next-step.h:70
NextStepTwoHandObserver twoHandObserver
Definition: next-step.h:156
static const unsigned int PERIOD_DEFAULT
Definition: next-step.h:131
Signal< int, int > triggerSOUT
Definition: next-step.h:172
@ CONTACT_RIGHT_FOOT
Definition: step-queue.h:58
std::ostream * verbose
Definition: next-step.h:161
ContactName
Definition: next-step.h:120