Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes
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
interpolatorinterpolators [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.

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.

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.

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.

Definition at line 340 of file seqplay.cpp.


Member Data Documentation

Definition at line 148 of file seqplay.h.

std::map<std::string, groupInterpolator *> seqplay::groupInterpolators [private]

Definition at line 147 of file seqplay.h.

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:


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:58