This object handles trajectory of quantities and publish them as signals. More...

#include <joint-trajectory-entity.hh>

Inheritance diagram for dynamicgraph::sot::SotJointTrajectoryEntity:

Public Types
typedef size_type	Dummy

Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command * >	CommandMap_t

typedef std::map< std::string, SignalBase< sigtime_t > * >	SignalMap

Public Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()

dynamicgraph::Vector &	getNextCoM (dynamicgraph::Vector &com, const sigtime_t &time)
	Return the next com. More...

dynamicgraph::Vector &	getNextCoP (dynamicgraph::Vector &cop, const sigtime_t &time)
	Return the next cop. More...

dynamicgraph::Vector &	getNextPosition (dynamicgraph::Vector &pos, const sigtime_t &time)
	Return the next pose for the legs. More...

sot::MatrixHomogeneous &	getNextWaist (sot::MatrixHomogeneous &waist, const sigtime_t &time)
	Return the next waist. More...

std::size_t &	getSeqId (std::size_t &seqid, const sigtime_t &time)
	Return the current seq identified of the current trajectory. More...

void	loadFile (const std::string &name)

size_type &	OneStepOfUpdate (size_type &dummy, const sigtime_t &time)
	Perform one update of the signals. More...

	SotJointTrajectoryEntity (const std::string &name)
	Constructor. More...

sot::MatrixHomogeneous	XYZThetaToMatrixHomogeneous (const dynamicgraph::Vector &xyztheta)
	Convert a xyztheta vector into an homogeneous matrix. More...

virtual	~SotJointTrajectoryEntity ()

Public Member Functions inherited from dynamicgraph::Entity
std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

virtual const std::string &	getClassName () const

const std::string &	getCommandList () const

virtual std::string	getDocString () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< sigtime_t > &	getSignal (const std::string &signalName)

const SignalBase< sigtime_t > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger &	logger ()

const Logger &	logger () const

const Logger &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< sigtime_t > *	test ()

virtual void	test2 (SignalBase< sigtime_t > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Public Attributes
Signals
Internal signal for synchronisation.
dynamicgraph::SignalTimeDependent< size_type, sigtime_t >	refresherSINTERN

SignalTimeDependent< Dummy, sigtime_t >	OneStepOfUpdateS
	Internal signal to trigger one step of the algorithm. More...

dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	positionSOUT
	Publish pose for each evaluation of the graph. More...

dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	comSOUT
	Publish com for each evaluation of the graph. More...

dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	zmpSOUT
	Publish zmp for each evaluation of the graph. More...

dynamicgraph::SignalTimeDependent< sot::MatrixHomogeneous, sigtime_t >	waistSOUT
	Publish waist for each evaluation of the graph. More...

dynamicgraph::SignalTimeDependent< std::size_t, sigtime_t >	seqIdSOUT
	Publish ID of the trajectory currently realized. More...

dynamicgraph::SignalPtr< Trajectory, sigtime_t >	trajectorySIN
	Read a trajectory. More...

Protected Member Functions
void	setInitTraj (const std::string &os)
	Implements the parsing and the affectation of initial trajectory. More...

void	UpdatePoint (const JointTrajectoryPoint &aJTP)
	Update the entity with the current point of the trajectory. More...

void	UpdateTrajectory (const Trajectory &aTrajectory)
	Update the entity with the trajectory aTrajectory. More...

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< sigtime_t > &signals)

Protected Attributes
dynamicgraph::Vector	com_
	Store the center of mass. More...

dynamicgraph::Vector	cop_
	Store the center of pressure ZMP. More...

std::deque< sot::Trajectory >	deque_traj_
	Queue of trajectories. More...

std::deque< sot::Trajectory >::size_type	index_
	Index on the point along the trajectory. More...

sot::Trajectory	init_traj_
	Initial state of the trajectory. More...

dynamicgraph::Vector	pose_
	Store the pos;. More...

std::size_t	seqid_
	Store the current seq identifier. More...

timestamp	traj_timestamp_
	Keep the starting time as an identifier of the trajector. More...

sot::MatrixHomogeneous	waist_
	Store the waist position. More...

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Display
virtual void	display (std::ostream &os) const

SOTJOINT_TRAJECTORY_ENTITY_EXPORT friend std::ostream &	operator<< (std::ostream &os, const SotJointTrajectoryEntity &r)

Detailed Description

This object handles trajectory of quantities and publish them as signals.

Definition at line 47 of file joint-trajectory-entity.hh.

Member Typedef Documentation

◆ Dummy

typedef size_type dynamicgraph::sot::SotJointTrajectoryEntity::Dummy

Definition at line 96 of file joint-trajectory-entity.hh.

Constructor & Destructor Documentation

◆ SotJointTrajectoryEntity()

SotJointTrajectoryEntity::SotJointTrajectoryEntity ( const std::string & name )

Constructor.

Definition at line 36 of file joint-trajectory-entity.cpp.

◆ ~SotJointTrajectoryEntity()

virtual dynamicgraph::sot::SotJointTrajectoryEntity::~SotJointTrajectoryEntity ( )

inlinevirtual

Definition at line 54 of file joint-trajectory-entity.hh.

Member Function Documentation

◆ display()

void SotJointTrajectoryEntity::display ( std::ostream & os ) const

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 295 of file joint-trajectory-entity.cpp.

◆ DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::SotJointTrajectoryEntity::DYNAMIC_GRAPH_ENTITY_DECL ( )

◆ getNextCoM()

dynamicgraph::Vector & SotJointTrajectoryEntity::getNextCoM	(	dynamicgraph::Vector &	com,
		const sigtime_t &	time
	)

Return the next com.

Definition at line 253 of file joint-trajectory-entity.cpp.

◆ getNextCoP()

dynamicgraph::Vector & SotJointTrajectoryEntity::getNextCoP	(	dynamicgraph::Vector &	cop,
		const sigtime_t &	time
	)

Return the next cop.

Definition at line 262 of file joint-trajectory-entity.cpp.

◆ getNextPosition()

dynamicgraph::Vector & SotJointTrajectoryEntity::getNextPosition	(	dynamicgraph::Vector &	pos,
		const sigtime_t &	time
	)

Return the next pose for the legs.

Definition at line 243 of file joint-trajectory-entity.cpp.

◆ getNextWaist()

sot::MatrixHomogeneous & SotJointTrajectoryEntity::getNextWaist	(	sot::MatrixHomogeneous &	waist,
		const sigtime_t &	time
	)

Return the next waist.

Definition at line 271 of file joint-trajectory-entity.cpp.

◆ getSeqId()

std::size_t & SotJointTrajectoryEntity::getSeqId	(	std::size_t &	seqid,
		const sigtime_t &	time
	)

Return the current seq identified of the current trajectory.

Definition at line 280 of file joint-trajectory-entity.cpp.

◆ loadFile()

void SotJointTrajectoryEntity::loadFile ( const std::string & name )

Definition at line 289 of file joint-trajectory-entity.cpp.

◆ OneStepOfUpdate()

size_type & SotJointTrajectoryEntity::OneStepOfUpdate	(	size_type &	dummy,
		const sigtime_t &	time
	)

Perform one update of the signals.

Definition at line 206 of file joint-trajectory-entity.cpp.

◆ setInitTraj()

void SotJointTrajectoryEntity::setInitTraj ( const std::string & os )

protected

Implements the parsing and the affectation of initial trajectory.

Definition at line 301 of file joint-trajectory-entity.cpp.

◆ UpdatePoint()

void SotJointTrajectoryEntity::UpdatePoint ( const JointTrajectoryPoint & aJTP )

protected

Update the entity with the current point of the trajectory.

Definition at line 90 of file joint-trajectory-entity.cpp.

◆ UpdateTrajectory()

void SotJointTrajectoryEntity::UpdateTrajectory ( const Trajectory & aTrajectory )

protected

Update the entity with the trajectory aTrajectory.

Definition at line 132 of file joint-trajectory-entity.cpp.

◆ XYZThetaToMatrixHomogeneous()

sot::MatrixHomogeneous SotJointTrajectoryEntity::XYZThetaToMatrixHomogeneous ( const dynamicgraph::Vector & xyztheta )

Convert a xyztheta vector into an homogeneous matrix.

Definition at line 228 of file joint-trajectory-entity.cpp.

Friends And Related Function Documentation

◆ operator<<

SOTJOINT_TRAJECTORY_ENTITY_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const SotJointTrajectoryEntity &	r
	)

friend

Definition at line 88 of file joint-trajectory-entity.hh.

Member Data Documentation

◆ com_

dynamicgraph::Vector dynamicgraph::sot::SotJointTrajectoryEntity::com_

protected

Store the center of mass.

Definition at line 138 of file joint-trajectory-entity.hh.

◆ comSOUT

dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::SotJointTrajectoryEntity::comSOUT

Publish com for each evaluation of the graph.

Definition at line 111 of file joint-trajectory-entity.hh.

◆ cop_

dynamicgraph::Vector dynamicgraph::sot::SotJointTrajectoryEntity::cop_

protected

Store the center of pressure ZMP.

Definition at line 141 of file joint-trajectory-entity.hh.

◆ deque_traj_

std::deque<sot::Trajectory> dynamicgraph::sot::SotJointTrajectoryEntity::deque_traj_

protected

Queue of trajectories.

Definition at line 153 of file joint-trajectory-entity.hh.

◆ index_

std::deque<sot::Trajectory>::size_type dynamicgraph::sot::SotJointTrajectoryEntity::index_

protected

Index on the point along the trajectory.

Definition at line 129 of file joint-trajectory-entity.hh.

◆ init_traj_

sot::Trajectory dynamicgraph::sot::SotJointTrajectoryEntity::init_traj_

protected

Initial state of the trajectory.

Definition at line 150 of file joint-trajectory-entity.hh.

◆ OneStepOfUpdateS

SignalTimeDependent<Dummy, sigtime_t> dynamicgraph::sot::SotJointTrajectoryEntity::OneStepOfUpdateS

Internal signal to trigger one step of the algorithm.

Definition at line 104 of file joint-trajectory-entity.hh.

◆ pose_

dynamicgraph::Vector dynamicgraph::sot::SotJointTrajectoryEntity::pose_

protected

Store the pos;.

Definition at line 135 of file joint-trajectory-entity.hh.

◆ positionSOUT

dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::SotJointTrajectoryEntity::positionSOUT

Publish pose for each evaluation of the graph.

Definition at line 108 of file joint-trajectory-entity.hh.

◆ refresherSINTERN

dynamicgraph::SignalTimeDependent<size_type, sigtime_t> dynamicgraph::sot::SotJointTrajectoryEntity::refresherSINTERN

Definition at line 101 of file joint-trajectory-entity.hh.

◆ seqid_

std::size_t dynamicgraph::sot::SotJointTrajectoryEntity::seqid_

protected

Store the current seq identifier.

Definition at line 147 of file joint-trajectory-entity.hh.

◆ seqIdSOUT

dynamicgraph::SignalTimeDependent<std::size_t, sigtime_t> dynamicgraph::sot::SotJointTrajectoryEntity::seqIdSOUT

Publish ID of the trajectory currently realized.

Definition at line 121 of file joint-trajectory-entity.hh.

◆ traj_timestamp_

timestamp dynamicgraph::sot::SotJointTrajectoryEntity::traj_timestamp_

protected

Keep the starting time as an identifier of the trajector.

Definition at line 132 of file joint-trajectory-entity.hh.

◆ trajectorySIN

dynamicgraph::SignalPtr<Trajectory, sigtime_t> dynamicgraph::sot::SotJointTrajectoryEntity::trajectorySIN

Read a trajectory.

Definition at line 124 of file joint-trajectory-entity.hh.

◆ waist_

sot::MatrixHomogeneous dynamicgraph::sot::SotJointTrajectoryEntity::waist_

protected

Store the waist position.

Definition at line 144 of file joint-trajectory-entity.hh.

◆ waistSOUT

dynamicgraph::SignalTimeDependent<sot::MatrixHomogeneous, sigtime_t> dynamicgraph::sot::SotJointTrajectoryEntity::waistSOUT

Publish waist for each evaluation of the graph.

Definition at line 118 of file joint-trajectory-entity.hh.

◆ zmpSOUT

dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::SotJointTrajectoryEntity::zmpSOUT

Publish zmp for each evaluation of the graph.

Definition at line 114 of file joint-trajectory-entity.hh.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Display

Detailed Description

Member Typedef Documentation

◆ Dummy

Constructor & Destructor Documentation

◆ SotJointTrajectoryEntity()

◆ ~SotJointTrajectoryEntity()

Member Function Documentation

◆ display()

◆ DYNAMIC_GRAPH_ENTITY_DECL()

◆ getNextCoM()

◆ getNextCoP()

◆ getNextPosition()

◆ getNextWaist()

◆ getSeqId()

◆ loadFile()

◆ OneStepOfUpdate()

◆ setInitTraj()

◆ UpdatePoint()

◆ UpdateTrajectory()

◆ XYZThetaToMatrixHomogeneous()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ com_

◆ comSOUT

◆ cop_

◆ deque_traj_

◆ index_

◆ init_traj_

◆ OneStepOfUpdateS

◆ pose_

◆ positionSOUT

◆ refresherSINTERN

◆ seqid_

◆ seqIdSOUT

◆ traj_timestamp_

◆ trajectorySIN

◆ waist_

◆ waistSOUT

◆ zmpSOUT