sot::NextStep Class Reference

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

Inheritance diagram for sot::NextStep:

[legend]

Collaboration diagram for sot::NextStep:

[legend]

List of all members.

Classes
class	FootPrint
Public Member Functions
virtual const std::string &	getClassName (void) const
	NextStep (const std::string &name)
virtual	~NextStep (void)
virtual void	nextStep (const int &timeCurr)
virtual void	starter (const int &timeCurr)
virtual void	stoper (const int &timeCurr)
virtual void	introductionCallBack (const int &timeCurr)
int &	triggerCall (int &dummy, int timeCurr)
virtual void	display (std::ostream &os) const
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
Public Attributes
dg::SignalPtr < MatrixHomogeneous, int >	referencePositionLeftSIN
dg::SignalPtr < MatrixHomogeneous, int >	referencePositionRightSIN
dg::SignalPtr< unsigned, int >	contactFootSIN
dg::Signal< int, int >	triggerSOUT
Static Public Attributes
static const std::string	CLASS_NAME
Protected Types
enum	ContactName {   CONTACT_LEFT_FOOT,   CONTACT_RIGHT_FOOT }
enum	SteppingMode {   MODE_1D,   MODE_3D }
enum	SteppingState {   STATE_STARTING,   STATE_STOPING,   STATE_STARTED,   STATE_STOPED }
Protected Member Functions
void	thisIsZero ()
Protected Attributes
std::deque< FootPrint >	footPrintList
unsigned int	period
int	timeLastIntroduction
SteppingMode	mode
SteppingState	state
double	zeroStepPosition
MatrixHomogeneous	rfMref0
MatrixHomogeneous	lfMref0
NextStepTwoHandObserver	twoHandObserver
std::ostream *	verbose
Static Protected Attributes
static const unsigned int	PERIOD_DEFAULT
static const double	ZERO_STEP_POSITION_DEFAULT

---

Detailed Description

Generates footsteps depending on the frame computed by the TwoHandObserver and the interpretation of the sensor forces. A stack of 4 foot prints is maintained, and at each step, two steps are computed: one step to push at the end of the stack, and a step computed from the i-th step of the stack + delta, which corresponds to a change in the future steps.

---

Member Enumeration Documentation

enum sot::NextStep::ContactName [protected]

Enumerator:

CONTACT_LEFT_FOOT
CONTACT_RIGHT_FOOT

enum sot::NextStep::SteppingMode [protected]

Enumerator:

MODE_1D
MODE_3D

enum sot::NextStep::SteppingState [protected]

Enumerator:

STATE_STARTING	Introducing 4 steps then switches to STATE_STARTED.
STATE_STOPING	Running but stop requested: introduce a last step and stop.
STATE_STARTED	Running, simply introduce steps.
STATE_STOPED	Nothing to do, cannot introduce steps in the FIFO.

---

Constructor & Destructor Documentation

sot::NextStep::NextStep

(

const std::string &

name

)

virtual sot::NextStep::~NextStep

(

void

)

[virtual]

---

Member Function Documentation

virtual void sot::NextStep::commandLine	(	const std::string &	cmdLine,
		std::istringstream &	cmdArgs,
		std::ostream &	os
	)			[virtual]

Reimplemented in sot::NextStepPgSot.

virtual void sot::NextStep::display

(

std::ostream &

os

)

const [virtual]

virtual const std::string& sot::NextStep::getClassName

(

void

)

const [inline, virtual]

Reimplemented in sot::NextStepPgSot.

virtual void sot::NextStep::introductionCallBack

(

const int &

timeCurr

)

[inline, virtual]

Reimplemented in sot::NextStepPgSot.

virtual void sot::NextStep::nextStep

(

const int &

timeCurr

)

[virtual]

virtual void sot::NextStep::starter

(

const int &

timeCurr

)

[virtual]

Reimplemented in sot::NextStepPgSot.

virtual void sot::NextStep::stoper

(

const int &

timeCurr

)

[virtual]

Reimplemented in sot::NextStepPgSot.

void sot::NextStep::thisIsZero

(

)

[protected]

int& sot::NextStep::triggerCall	(	int &	dummy,
		int	timeCurr
	)

---

Member Data Documentation

const std::string sot::NextStep::CLASS_NAME [static]

Reimplemented in sot::NextStepPgSot.

dg::SignalPtr< unsigned,int > sot::NextStep::contactFootSIN

std::deque< FootPrint > sot::NextStep::footPrintList [protected]

MatrixHomogeneous sot::NextStep::lfMref0 [protected]

SteppingMode sot::NextStep::mode [protected]

unsigned int sot::NextStep::period [protected]

const unsigned int sot::NextStep::PERIOD_DEFAULT [static, protected]

dg::SignalPtr< MatrixHomogeneous,int > sot::NextStep::referencePositionLeftSIN

dg::SignalPtr< MatrixHomogeneous,int > sot::NextStep::referencePositionRightSIN

MatrixHomogeneous sot::NextStep::rfMref0 [protected]

SteppingState sot::NextStep::state [protected]

int sot::NextStep::timeLastIntroduction [protected]

dg::Signal< int,int > sot::NextStep::triggerSOUT

NextStepTwoHandObserver sot::NextStep::twoHandObserver [protected]

std::ostream* sot::NextStep::verbose [protected]

const double sot::NextStep::ZERO_STEP_POSITION_DEFAULT [static, protected]

double sot::NextStep::zeroStepPosition [protected]