step-queue.h

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/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 * Copyright Projet JRL-Japan, 2007
 *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * File:      StepQueue.h
 * Project:   SOT
 * Author:    Paul Evrard, Nicolas Mansard
 *
 * Version control
 * ===============
 *
 *  $Id$
 *
 * Description
 * ============
 *
 * StepQueue entity: manages a step queue (a series of future steps,
 * plus a series of changes in the future steps).
 *
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
 
#ifndef __SOT_STEPQUEUE_H__
#define __SOT_STEPQUEUE_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* SOT */
#include <dynamic-graph/entity.h>
 
/* STD */
#include <deque>
#include <string>
 
namespace dynamicgraph {
namespace sot {
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(step_queue_EXPORTS)
#define StepQueue_EXPORT __declspec(dllexport)
#else
#define StepQueue_EXPORT __declspec(dllimport)
#endif
#else
#define StepQueue_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
enum ContactName { CONTACT_LEFT_FOOT, CONTACT_RIGHT_FOOT };
 
class StepQueue_EXPORT FootPrint {
 public:
  FootPrint();
  FootPrint(double x, double y, double theta, ContactName contact);
 
  double x, y, theta;  
  ContactName contact;  
};
 
 
class StepQueue_EXPORT StepQueue : public Entity {
 public:  // Entity name
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
 
 private:  // Parameters
  static const unsigned int QUEUE_SIZE;
  static const double ZERO_STEP_POSITION;
  static const FootPrint START_FOOT_PRINT;
 
 public:  // Construction
  StepQueue(const std::string &name);
 
 public:  // Queue manipulation
  void startSequence();
 
  void pushStep(double x, double y, double theta);
 
  const FootPrint &getStep(unsigned int index) const;
  const FootPrint &getFirstStep() const;
  const FootPrint &getLastStep() const;
 
  void changeFirstStep(double x, double y, double dtheta);
 
  const FootPrint &getFirstStepChange() const;
 
  bool isFirstStepChanged() const;
 
 public:  // Queue properties
  unsigned int size() const;
  const FootPrint &getStartFootPrint() const;
  double getZeroStepPosition() const;
 
 public:  // Entity
  virtual void display(std::ostream &os) const;
  virtual void commandLine(const std::string &cmdLine,
                           std::istringstream &cmdArgs, std::ostream &os);
 
 private:
  std::deque<FootPrint> footPrintList;
  FootPrint firstStepChange;
  bool firstStepChanged;
};
 
}  // namespace sot
}  // namespace dynamicgraph
 
#endif