sot::StepComputerForce Class Reference

Generates footsteps. More...

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

Inheritance diagram for sot::StepComputerForce:

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Collaboration diagram for sot::StepComputerForce:

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List of all members.

Public Member Functions
virtual const std::string &	getClassName (void) const
	StepComputerForce (const std::string &name)
void	changeFirstStep (StepQueue &queue, int timeCurr)
void	nextStep (StepQueue &queue, int timeCurr)
ml::Vector &	computeDisplacement (ml::Vector &res, int timeCurr)
ml::Vector &	computeForce (ml::Vector &res, int timeCurr)
ml::Vector &	computeForceL (ml::Vector &res, int timeCurr)
ml::Vector &	computeForceR (ml::Vector &res, int timeCurr)
ml::Vector &	computeHandForce (ml::Vector &res, const MatrixHomogeneous &waMh, const MatrixHomogeneous &waMref, const ml::Vector &F)
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 >	waistMlhandSIN
dg::SignalPtr < MatrixHomogeneous, int >	waistMrhandSIN
dg::SignalPtr < MatrixHomogeneous, int >	referencePositionWaistSIN
dg::SignalPtr< ml::Vector, int >	stiffnessSIN
dg::SignalPtr< ml::Vector, int >	velocitySIN
dg::SignalPtr< unsigned, int >	contactFootSIN
dg::SignalTimeDependent < ml::Vector, int >	displacementSOUT
dg::SignalTimeDependent < ml::Vector, int >	forceSOUT
dg::SignalTimeDependent < ml::Vector, int >	forceLhandSOUT
dg::SignalTimeDependent < ml::Vector, int >	forceRhandSOUT
Static Public Attributes
static const std::string	CLASS_NAME

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Detailed Description

Generates footsteps.

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Constructor & Destructor Documentation

sot::StepComputerForce::StepComputerForce

(

const std::string &

name

)

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Member Function Documentation

void sot::StepComputerForce::changeFirstStep	(	StepQueue &	queue,
		int	timeCurr
	)			[virtual]

Implements sot::StepComputer.

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

ml::Vector& sot::StepComputerForce::computeDisplacement	(	ml::Vector &	res,
		int	timeCurr
	)

ml::Vector& sot::StepComputerForce::computeForce	(	ml::Vector &	res,
		int	timeCurr
	)

ml::Vector& sot::StepComputerForce::computeForceL	(	ml::Vector &	res,
		int	timeCurr
	)

ml::Vector& sot::StepComputerForce::computeForceR	(	ml::Vector &	res,
		int	timeCurr
	)

ml::Vector& sot::StepComputerForce::computeHandForce	(	ml::Vector &	res,
		const MatrixHomogeneous &	waMh,
		const MatrixHomogeneous &	waMref,
		const ml::Vector &	F
	)

virtual void sot::StepComputerForce::display

(

std::ostream &

os

)

const [virtual]

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

(

void

)

const [inline, virtual]

void sot::StepComputerForce::nextStep	(	StepQueue &	queue,
		int	timeCurr
	)			[virtual]

Implements sot::StepComputer.

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Member Data Documentation

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

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

dg::SignalTimeDependent< ml::Vector,int > sot::StepComputerForce::displacementSOUT

dg::SignalTimeDependent< ml::Vector,int > sot::StepComputerForce::forceLhandSOUT

dg::SignalTimeDependent< ml::Vector,int > sot::StepComputerForce::forceRhandSOUT

dg::SignalTimeDependent< ml::Vector,int > sot::StepComputerForce::forceSOUT

dg::SignalPtr< MatrixHomogeneous,int > sot::StepComputerForce::referencePositionWaistSIN

dg::SignalPtr< ml::Vector,int > sot::StepComputerForce::stiffnessSIN

dg::SignalPtr< ml::Vector,int > sot::StepComputerForce::velocitySIN

dg::SignalPtr< MatrixHomogeneous,int > sot::StepComputerForce::waistMlhandSIN

dg::SignalPtr< MatrixHomogeneous,int > sot::StepComputerForce::waistMrhandSIN