rats::toe_heel_phase_counter Class Reference

#include <GaitGenerator.h>

List of all members.

Public Member Functions
double	calc_phase_period (const toe_heel_phase start_phase, const toe_heel_phase goal_phase, const double _dt) const
double	calc_phase_ratio (const size_t current_count, const toe_heel_phase start_phase, const toe_heel_phase goal_phase) const
double	calc_phase_ratio (const size_t current_count, const toe_heel_phase goal_phase) const
double	calc_phase_ratio_for_toe_heel_transition (const size_t current_count) const
bool	check_toe_heel_phase_ratio_validity (const std::vector< double > &ratio)
void	get_toe_heel_phase_ratio (std::vector< double > &ratio) const
bool	is_between_phases (const size_t current_count, const toe_heel_phase phase0, const toe_heel_phase phase1) const
bool	is_between_phases (const size_t current_count, const toe_heel_phase phase1) const
bool	is_no_SOLE1_phase () const
bool	is_phase_starting (const size_t current_count, const toe_heel_phase _phase) const
void	set_one_step_count (const size_t _count)
bool	set_toe_heel_phase_ratio (const std::vector< double > &ratio)
	toe_heel_phase_counter ()
Private Member Functions
bool	calc_toe_heel_phase_count_from_raio ()
Private Attributes
size_t	one_step_count
size_t	toe_heel_phase_count [NUM_TH_PHASES]
double	toe_heel_phase_ratio [NUM_TH_PHASES]

---

Detailed Description

Definition at line 125 of file GaitGenerator.h.

---

Constructor & Destructor Documentation

rats::toe_heel_phase_counter::toe_heel_phase_counter

(

)

[inline]

Definition at line 138 of file GaitGenerator.h.

---

Member Function Documentation

double rats::toe_heel_phase_counter::calc_phase_period	(	const toe_heel_phase	start_phase,
		const toe_heel_phase	goal_phase,
		const double	_dt
	)		const [inline]

Definition at line 206 of file GaitGenerator.h.

double rats::toe_heel_phase_counter::calc_phase_ratio	(	const size_t	current_count,
		const toe_heel_phase	start_phase,
		const toe_heel_phase	goal_phase
	)		const [inline]

Definition at line 212 of file GaitGenerator.h.

double rats::toe_heel_phase_counter::calc_phase_ratio	(	const size_t	current_count,
		const toe_heel_phase	goal_phase
	)		const [inline]

Definition at line 218 of file GaitGenerator.h.

double rats::toe_heel_phase_counter::calc_phase_ratio_for_toe_heel_transition

(

const size_t

current_count

)

const [inline]

Definition at line 225 of file GaitGenerator.h.

bool rats::toe_heel_phase_counter::calc_toe_heel_phase_count_from_raio

(

)

[inline, private]

Definition at line 129 of file GaitGenerator.h.

bool rats::toe_heel_phase_counter::check_toe_heel_phase_ratio_validity

(

const std::vector< double > &

ratio

)

[inline]

Definition at line 148 of file GaitGenerator.h.

void rats::toe_heel_phase_counter::get_toe_heel_phase_ratio

(

std::vector< double > &

ratio

)

const [inline]

Definition at line 187 of file GaitGenerator.h.

bool rats::toe_heel_phase_counter::is_between_phases	(	const size_t	current_count,
		const toe_heel_phase	phase0,
		const toe_heel_phase	phase1
	)		const [inline]

Definition at line 196 of file GaitGenerator.h.

bool rats::toe_heel_phase_counter::is_between_phases	(	const size_t	current_count,
		const toe_heel_phase	phase1
	)		const [inline]

Definition at line 200 of file GaitGenerator.h.

bool rats::toe_heel_phase_counter::is_no_SOLE1_phase

(

)

const [inline]

Definition at line 204 of file GaitGenerator.h.

bool rats::toe_heel_phase_counter::is_phase_starting	(	const size_t	current_count,
		const toe_heel_phase	_phase
	)		const [inline]

Definition at line 192 of file GaitGenerator.h.

void rats::toe_heel_phase_counter::set_one_step_count

(

const size_t

_count

)

[inline]

Definition at line 172 of file GaitGenerator.h.

bool rats::toe_heel_phase_counter::set_toe_heel_phase_ratio

(

const std::vector< double > &

ratio

)

[inline]

Definition at line 177 of file GaitGenerator.h.

---

Member Data Documentation

size_t rats::toe_heel_phase_counter::one_step_count [private]

Definition at line 128 of file GaitGenerator.h.

size_t rats::toe_heel_phase_counter::toe_heel_phase_count[NUM_TH_PHASES] [private]

Definition at line 128 of file GaitGenerator.h.

double rats::toe_heel_phase_counter::toe_heel_phase_ratio[NUM_TH_PHASES] [private]

Definition at line 127 of file GaitGenerator.h.

---

The documentation for this class was generated from the following file:

• GaitGenerator.h