sot::NextStepTwoHandObserver Class Reference

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

List of all members.

Public Member Functions
	NextStepTwoHandObserver (const std::string &name)
MatrixHomogeneous &	computeReferencePositionLeft (MatrixHomogeneous &res, int timeCurr)
MatrixHomogeneous &	computeReferencePositionRight (MatrixHomogeneous &res, int timeCurr)
ml::Vector &	computeReferenceVelocity (const ml::Vector &right, const ml::Vector &left, ml::Vector &res)
ml::Vector &	computeReferenceAcceleration (const ml::Vector &right, const ml::Vector &left, ml::Vector &res)
dg::SignalArray< int >	getSignals (void)
	operator dg::SignalArray< int > ()
Public Attributes
dg::SignalPtr < MatrixHomogeneous, int >	referencePositionLeftSIN
dg::SignalPtr< ml::Vector, int >	referenceVelocityLeftSIN
dg::SignalPtr< ml::Vector, int >	referenceAccelerationLeftSIN
dg::SignalPtr < MatrixHomogeneous, int >	leftFootPositionSIN
dg::SignalPtr < MatrixHomogeneous, int >	referencePositionRightSIN
dg::SignalPtr< ml::Vector, int >	referenceVelocityRightSIN
dg::SignalPtr< ml::Vector, int >	referenceAccelerationRightSIN
dg::SignalPtr < MatrixHomogeneous, int >	rightFootPositionSIN
dg::SignalTimeDependent < MatrixHomogeneous, int >	referencePositionLeftSOUT
dg::SignalTimeDependent < MatrixHomogeneous, int >	referencePositionRightSOUT
dg::SignalTimeDependent < ml::Vector, int >	referenceVelocitySOUT
dg::SignalTimeDependent < ml::Vector, int >	referenceAccelerationSOUT

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Detailed Description

Computes a reference frame in either left or right foot coordinates, based on the position of the hands. Used by the stepper to compute the reference foot prints to send to the Pattern Generator.

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Constructor & Destructor Documentation

sot::NextStepTwoHandObserver::NextStepTwoHandObserver

(

const std::string &

name

)

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Member Function Documentation

ml::Vector& sot::NextStepTwoHandObserver::computeReferenceAcceleration	(	const ml::Vector &	right,
		const ml::Vector &	left,
		ml::Vector &	res
	)

MatrixHomogeneous& sot::NextStepTwoHandObserver::computeReferencePositionLeft	(	MatrixHomogeneous &	res,
		int	timeCurr
	)

MatrixHomogeneous& sot::NextStepTwoHandObserver::computeReferencePositionRight	(	MatrixHomogeneous &	res,
		int	timeCurr
	)

ml::Vector& sot::NextStepTwoHandObserver::computeReferenceVelocity	(	const ml::Vector &	right,
		const ml::Vector &	left,
		ml::Vector &	res
	)

dg::SignalArray<int> sot::NextStepTwoHandObserver::getSignals

(

void

)

sot::NextStepTwoHandObserver::operator dg::SignalArray< int >

(

)

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Member Data Documentation

dg::SignalPtr< MatrixHomogeneous,int > sot::NextStepTwoHandObserver::leftFootPositionSIN

dg::SignalPtr< ml::Vector,int > sot::NextStepTwoHandObserver::referenceAccelerationLeftSIN

dg::SignalPtr< ml::Vector,int > sot::NextStepTwoHandObserver::referenceAccelerationRightSIN

dg::SignalTimeDependent< ml::Vector,int > sot::NextStepTwoHandObserver::referenceAccelerationSOUT

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

dg::SignalTimeDependent< MatrixHomogeneous,int > sot::NextStepTwoHandObserver::referencePositionLeftSOUT

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

dg::SignalTimeDependent< MatrixHomogeneous,int > sot::NextStepTwoHandObserver::referencePositionRightSOUT

dg::SignalPtr< ml::Vector,int > sot::NextStepTwoHandObserver::referenceVelocityLeftSIN

dg::SignalPtr< ml::Vector,int > sot::NextStepTwoHandObserver::referenceVelocityRightSIN

dg::SignalTimeDependent< ml::Vector,int > sot::NextStepTwoHandObserver::referenceVelocitySOUT

dg::SignalPtr< MatrixHomogeneous,int > sot::NextStepTwoHandObserver::rightFootPositionSIN