#include <step_dynamics_post_process.h>

Inheritance diagram for vigir_footstep_planning::StepDynamicsPostProcess:

Public Types
typedef boost::shared_ptr< const StepDynamicsPostProcess >	ConstPtr

typedef boost::shared_ptr< StepDynamicsPostProcess >	Ptr

Public Member Functions
bool	loadParams (const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override

void	postProcessStepBackward (const State &left_foot, const State &right_foot, State &swing_foot) const override

void	postProcessStepForward (const State &left_foot, const State &right_foot, State &swing_foot) const override

	StepDynamicsPostProcess ()

Protected Member Functions
virtual void	determineDynamics (const State &swing_foot_before, const State &stand_foot, State &swing_foot_after) const

virtual void	determineStepAttributes (const State &swing_foot_before, const State &stand_foot, State &swing_foot_after) const

virtual void	determineTimings (const State &swing_foot_before, const State &stand_foot, State &swing_foot_after) const

virtual void	determineTravelDistance (const State &swing_foot_before, const State &stand_foot, State &swing_foot_after) const

Protected Attributes
double	default_step_duration

double	default_sway_duration

double	default_swing_height

Detailed Description

Definition at line 40 of file step_dynamics_post_process.h.

Member Typedef Documentation

typedef boost::shared_ptr<const StepDynamicsPostProcess> vigir_footstep_planning::StepDynamicsPostProcess::ConstPtr

Definition at line 53 of file step_dynamics_post_process.h.

typedef boost::shared_ptr<StepDynamicsPostProcess> vigir_footstep_planning::StepDynamicsPostProcess::Ptr

Definition at line 52 of file step_dynamics_post_process.h.

Constructor & Destructor Documentation

vigir_footstep_planning::StepDynamicsPostProcess::StepDynamicsPostProcess ( )

Definition at line 9 of file step_dynamics_post_process.cpp.

Member Function Documentation

void vigir_footstep_planning::StepDynamicsPostProcess::determineDynamics	(	const State &	swing_foot_before,
		const State &	stand_foot,
		State &	swing_foot_after
	)		const

protectedvirtual

Definition at line 65 of file step_dynamics_post_process.cpp.

void vigir_footstep_planning::StepDynamicsPostProcess::determineStepAttributes	(	const State &	swing_foot_before,
		const State &	stand_foot,
		State &	swing_foot_after
	)		const

protectedvirtual

Definition at line 41 of file step_dynamics_post_process.cpp.

void vigir_footstep_planning::StepDynamicsPostProcess::determineTimings	(	const State &	swing_foot_before,
		const State &	stand_foot,
		State &	swing_foot_after
	)		const

protectedvirtual

Definition at line 59 of file step_dynamics_post_process.cpp.

void vigir_footstep_planning::StepDynamicsPostProcess::determineTravelDistance	(	const State &	swing_foot_before,
		const State &	stand_foot,
		State &	swing_foot_after
	)		const

protectedvirtual

Definition at line 46 of file step_dynamics_post_process.cpp.

bool vigir_footstep_planning::StepDynamicsPostProcess::loadParams ( const vigir_generic_params::ParameterSet & params = vigir_generic_params::ParameterSet() )

override

Definition at line 14 of file step_dynamics_post_process.cpp.

void vigir_footstep_planning::StepDynamicsPostProcess::postProcessStepBackward	(	const State &	left_foot,
		const State &	right_foot,
		State &	swing_foot
	)		const

override

Definition at line 36 of file step_dynamics_post_process.cpp.

void vigir_footstep_planning::StepDynamicsPostProcess::postProcessStepForward	(	const State &	left_foot,
		const State &	right_foot,
		State &	swing_foot
	)		const