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22 #ifndef __SOT_STEPQUEUE_H__
23 #define __SOT_STEPQUEUE_H__
30 #include <dynamic-graph/entity.h>
44 #if defined(step_queue_EXPORTS)
45 #define StepQueue_EXPORT __declspec(dllexport)
47 #define StepQueue_EXPORT __declspec(dllimport)
50 #define StepQueue_EXPORT
80 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
83 static const unsigned int QUEUE_SIZE;
84 static const double ZERO_STEP_POSITION;
101 void pushStep(
double x,
double y,
double theta);
104 const FootPrint &getStep(
unsigned int index)
const;
112 void changeFirstStep(
double x,
double y,
double dtheta);
114 const FootPrint &getFirstStepChange()
const;
118 bool isFirstStepChanged()
const;
122 unsigned int size()
const;
124 const FootPrint &getStartFootPrint()
const;
125 double getZeroStepPosition()
const;
129 virtual void display(std::ostream &os)
const;
130 virtual void commandLine(
const std::string &cmdLine,
131 std::istringstream &cmdArgs, std::ostream &os);
134 std::deque<FootPrint> footPrintList;
136 bool firstStepChanged;
@ CONTACT_LEFT_FOOT
Definition: step-queue.h:58
Definition: exception-pg.h:47
#define StepQueue_EXPORT
Definition: step-queue.h:50
static const std::string CLASS_NAME
Definition: step-queue.h:79
ContactName
Support foot identifier.
Definition: step-queue.h:58
virtual const std::string & getClassName(void) const
Definition: step-queue.h:80
A step queue in the preview window.
Definition: step-queue.h:77
@ CONTACT_RIGHT_FOOT
Definition: step-queue.h:58