sot::StepObserver Class Reference

Computes a reference frame from the position of both hands and feet of the robot. More...

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

Collaboration diagram for sot::StepObserver:

[legend]

List of all members.

Public Member Functions
virtual const std::string &	getClassName (void) const
	StepObserver (const std::string &name)
dg::SignalArray< int >	getSignals (void)
	operator dg::SignalArray< int > ()
MatrixHomogeneous &	computeReferencePositionLeft (MatrixHomogeneous &res, int timeCurr)
MatrixHomogeneous &	computeReferencePositionRight (MatrixHomogeneous &res, int timeCurr)
MatrixHomogeneous &	computeReferencePositionWaist (MatrixHomogeneous &res, 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 >	leftHandPositionSIN
dg::SignalPtr < MatrixHomogeneous, int >	rightHandPositionSIN
dg::SignalPtr < MatrixHomogeneous, int >	leftFootPositionSIN
dg::SignalPtr < MatrixHomogeneous, int >	rightFootPositionSIN
dg::SignalPtr < MatrixHomogeneous, int >	waistPositionSIN
dg::SignalTimeDependent < MatrixHomogeneous, int >	referencePositionLeftSOUT
	Reference frame in left foot coordinates.
dg::SignalTimeDependent < MatrixHomogeneous, int >	referencePositionRightSOUT
	Reference frame in right foot coordinates.
dg::SignalTimeDependent < MatrixHomogeneous, int >	referencePositionWaistSOUT
	Reference frame in the waist coordinates.
Static Public Attributes
static const std::string	CLASS_NAME

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Detailed Description

Computes a reference frame from the position of both hands and feet of the robot.

The coordinates of the reference frames are computed both in the left and right foot frames, and in the waist frame.

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Constructor & Destructor Documentation

sot::StepObserver::StepObserver

(

const std::string &

name

)

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Member Function Documentation

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

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

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

MatrixHomogeneous& sot::StepObserver::computeReferencePositionWaist	(	MatrixHomogeneous &	res,
		int	timeCurr
	)

virtual void sot::StepObserver::display

(

std::ostream &

os

)

const [virtual]

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

(

void

)

const [inline, virtual]

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

(

void

)

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

(

)

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Member Data Documentation

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

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

dg::SignalPtr< MatrixHomogeneous,int > sot::StepObserver::leftHandPositionSIN

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

Reference frame in left foot coordinates.

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

Reference frame in right foot coordinates.

dg::SignalTimeDependent< MatrixHomogeneous,int > sot::StepObserver::referencePositionWaistSOUT

Reference frame in the waist coordinates.

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

dg::SignalPtr< MatrixHomogeneous,int > sot::StepObserver::rightHandPositionSIN

dg::SignalPtr< MatrixHomogeneous,int > sot::StepObserver::waistPositionSIN