seqplay Class Reference

#include <seqplay.h>

List of all members.

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.

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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.

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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 831 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.

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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.

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

• seqplay.h
• seqplay.cpp