#include <seqplay.h>

Classes
class	groupInterpolator

Public Member Functions
bool	addJointGroup (const char *gname, const std::vector< int > &indices)

void	clear (double i_timeLimit=0)

bool	clearJointAngles ()

bool	clearJointAnglesOfGroup (const char *gname)

void	clearOfGroup (const char *gname, double i_timeLimit)

void	get (double o_q, double o_zmp, double o_accel, double o_basePos, double o_baseRpy, double o_tq, double o_wrenches, double o_optional_data)

void	getJointAngles (double *i_qRef)

bool	getJointGroup (const char *gname, std::vector< int > &indices)

void	go (const double i_q, const double i_zmp, const double i_acc, const double i_p, const double i_rpy, const double i_tq, const double i_wrenches, const double i_optional_data, double i_time, bool immediate=true)

void	go (const double i_q, const double i_zmp, const double i_acc, const double i_p, const double i_rpy, const double i_tq, const double i_wrenches, const double i_optional_data, const double ii_q, const double ii_zmp, const double ii_acc, const double ii_p, const double ii_rpy, const double ii_tq, const double ii_wrenches, const double ii_optional_data, double i_time, bool immediate=true)

bool	isEmpty () const

bool	isEmpty (const char *gname)

void	loadPattern (const char *i_basename, double i_tm)

void	playPattern (std::vector< const double * > pos, std::vector< const double * > zmp, std::vector< const double * > rpy, std::vector< double > tm, const double *qInit, unsigned int len)

bool	playPatternOfGroup (const char gname, std::vector< const double > pos, std::vector< double > tm, const double *qInit, unsigned int len)

bool	removeJointGroup (const char *gname, double time=2.5)

bool	resetJointGroup (const char gname, const double full)

	seqplay (unsigned int i_dof, double i_dt, unsigned int i_fnum=0, unsigned int optional_data_dim=1)

void	setBaseAcc (const double *i_acc, double i_tm=0.0)

void	setBasePos (const double *i_pos, double i_tm=0.0)

void	setBaseRpy (const double *i_rpy, double i_tm=0.0)

bool	setInterpolationMode (interpolator::interpolation_mode i_mode_)

void	setJointAngle (unsigned int i_rank, double jv, double tm)

void	setJointAngles (const double *i_qRef, double i_tm=0.0)

bool	setJointAnglesOfGroup (const char gname, const double i_qRef, const size_t i_qsize, double i_tm=0.0)

bool	setJointAnglesSequence (std::vector< const double * > pos, std::vector< double > tm)

bool	setJointAnglesSequenceFull (std::vector< const double * > pos, std::vector< const double * > vel, std::vector< const double * > torques, std::vector< const double * > bpos, std::vector< const double * > brpy, std::vector< const double * > bacc, std::vector< const double * > zmps, std::vector< const double * > wrenches, std::vector< const double * > optionals, std::vector< double > tm)

bool	setJointAnglesSequenceOfGroup (const char gname, std::vector< const double > pos, std::vector< double > tm, const size_t pos_size)

void	setWrenches (const double *i_wrenches, double i_tm=0.0)

void	setZmp (const double *i_zmp, double i_tm=0.0)

void	sync ()

	~seqplay ()

Private Types
enum	{ Q, ZMP, ACC, P, RPY, TQ, WRENCHES, OPTIONAL_DATA, NINTERPOLATOR }

Private Member Functions
void	pop_back ()

Private Attributes
int	debug_level

std::map< std::string, groupInterpolator * >	groupInterpolators

interpolator *	interpolators [NINTERPOLATOR]

int	m_dof

Detailed Description

Definition at line 13 of file seqplay.h.

Member Enumeration Documentation

anonymous enum

private

Enumerator
Q
ZMP
ACC
P
RPY
TQ
WRENCHES
OPTIONAL_DATA
NINTERPOLATOR

Definition at line 145 of file seqplay.h.

Constructor & Destructor Documentation

seqplay::seqplay	(	unsigned int	i_dof,
		double	i_dt,
		unsigned int	i_fnum = `0`,
		unsigned int	optional_data_dim = `1`
	)

Definition at line 9 of file seqplay.cpp.

seqplay::~seqplay ( )

Definition at line 48 of file seqplay.cpp.

Member Function Documentation

bool seqplay::addJointGroup	(	const char *	gname,
		const std::vector< int > &	indices
	)

Definition at line 424 of file seqplay.cpp.

void seqplay::clear ( double i_timeLimit = 0 )

Definition at line 263 of file seqplay.cpp.

bool seqplay::clearJointAngles ( )

Definition at line 644 of file seqplay.cpp.

bool seqplay::clearJointAnglesOfGroup ( const char * gname )

Definition at line 841 of file seqplay.cpp.

void seqplay::clearOfGroup	(	const char *	gname,
		double	i_timeLimit
	)

Definition at line 521 of file seqplay.cpp.

void seqplay::get	(	double *	o_q,
		double *	o_zmp,
		double *	o_accel,
		double *	o_basePos,
		double *	o_baseRpy,
		double *	o_tq,
		double *	o_wrenches,
		double *	o_optional_data
	)

Definition at line 354 of file seqplay.cpp.

void seqplay::getJointAngles ( double * i_qRef )

Definition at line 162 of file seqplay.cpp.

bool seqplay::getJointGroup	(	const char *	gname,
		std::vector< int > &	indices
	)

Definition at line 437 of file seqplay.cpp.

void seqplay::go	(	const double *	i_q,
		const double *	i_zmp,
		const double *	i_acc,
		const double *	i_p,
		const double *	i_rpy,
		const double *	i_tq,
		const double *	i_wrenches,
		const double *	i_optional_data,
		double	i_time,
		bool	immediate = `true`
	)

Definition at line 381 of file seqplay.cpp.

void seqplay::go	(	const double *	i_q,
		const double *	i_zmp,
		const double *	i_acc,
		const double *	i_p,
		const double *	i_rpy,
		const double *	i_tq,
		const double *	i_wrenches,
		const double *	i_optional_data,
		const double *	ii_q,
		const double *	ii_zmp,
		const double *	ii_acc,
		const double *	ii_p,
		const double *	ii_rpy,
		const double *	ii_tq,
		const double *	ii_wrenches,
		const double *	ii_optional_data,
		double	i_time,
		bool	immediate = `true`
	)

Definition at line 390 of file seqplay.cpp.

bool seqplay::isEmpty ( void ) const

Definition at line 103 of file seqplay.cpp.

bool seqplay::isEmpty ( const char * gname )

Definition at line 117 of file seqplay.cpp.

void seqplay::loadPattern	(	const char *	i_basename,
		double	i_tm
	)

Definition at line 273 of file seqplay.cpp.

void seqplay::playPattern	(	std::vector< const double * >	pos,
		std::vector< const double * >	zmp,
		std::vector< const double * >	rpy,
		std::vector< double >	tm,
		const double *	qInit,
		unsigned int	len
	)

Definition at line 221 of file seqplay.cpp.

bool seqplay::playPatternOfGroup	(	const char *	gname,
		std::vector< const double * >	pos,
		std::vector< double >	tm,
		const double *	qInit,
		unsigned int	len
	)

Definition at line 530 of file seqplay.cpp.

void seqplay::pop_back ( )

private

Definition at line 347 of file seqplay.cpp.

bool seqplay::removeJointGroup	(	const char *	gname,
		double	time = `2.5`
	)

Definition at line 452 of file seqplay.cpp.

bool seqplay::resetJointGroup	(	const char *	gname,
		const double *	full
	)

Definition at line 465 of file seqplay.cpp.

void seqplay::setBaseAcc	(	const double *	i_acc,
		double	i_tm = `0.0`
	)

Definition at line 195 of file seqplay.cpp.

void seqplay::setBasePos	(	const double *	i_pos,
		double	i_tm = `0.0`
	)

Definition at line 177 of file seqplay.cpp.

void seqplay::setBaseRpy	(	const double *	i_rpy,
		double	i_tm = `0.0`
	)

Definition at line 186 of file seqplay.cpp.

bool seqplay::setInterpolationMode ( interpolator::interpolation_mode i_mode_ )

Definition at line 407 of file seqplay.cpp.

void seqplay::setJointAngle	(	unsigned int	i_rank,
		double	jv,
		double	tm
	)

Definition at line 213 of file seqplay.cpp.

void seqplay::setJointAngles	(	const double *	i_qRef,
		double	i_tm = `0.0`
	)

Definition at line 153 of file seqplay.cpp.

bool seqplay::setJointAnglesOfGroup	(	const char *	gname,
		const double *	i_qRef,
		const size_t	i_qsize,
		double	i_tm = `0.0`
	)

Definition at line 489 of file seqplay.cpp.

bool seqplay::setJointAnglesSequence	(	std::vector< const double * >	pos,
		std::vector< double >	tm
	)

Definition at line 598 of file seqplay.cpp.

bool seqplay::setJointAnglesSequenceFull	(	std::vector< const double * >	pos,
		std::vector< const double * >	vel,
		std::vector< const double * >	torques,
		std::vector< const double * >	bpos,
		std::vector< const double * >	brpy,
		std::vector< const double * >	bacc,
		std::vector< const double * >	zmps,
		std::vector< const double * >	wrenches,
		std::vector< const double * >	optionals,
		std::vector< double >	tm
	)

Definition at line 660 of file seqplay.cpp.

bool seqplay::setJointAnglesSequenceOfGroup	(	const char *	gname,
		std::vector< const double * >	pos,
		std::vector< double >	tm,
		const size_t	pos_size
	)

Definition at line 762 of file seqplay.cpp.

void seqplay::setWrenches	(	const double *	i_wrenches,
		double	i_tm = `0.0`
	)

Definition at line 204 of file seqplay.cpp.

void seqplay::setZmp	(	const double *	i_zmp,
		double	i_tm = `0.0`
	)

Definition at line 168 of file seqplay.cpp.

void seqplay::sync ( )

Definition at line 340 of file seqplay.cpp.

Member Data Documentation

int seqplay::debug_level

private

Definition at line 148 of file seqplay.h.

std::map<std::string, groupInterpolator *> seqplay::groupInterpolators

private

Definition at line 147 of file seqplay.h.

interpolator* seqplay::interpolators[NINTERPOLATOR]

private

Definition at line 146 of file seqplay.h.

int seqplay::m_dof

private

Definition at line 148 of file seqplay.h.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation