Private Member Functions | Private Attributes | List of all members
dynamicgraph::sot::tools::Seqplay Class Reference

#include <seqplay.hh>

Inheritance diagram for dynamicgraph::sot::tools::Seqplay:
Inheritance graph
[legend]

Private Member Functions

Vector & computeAnkleVelocity (Vector &velocity, const std::vector< MatrixHomogeneous > &ankleVector, const sigtime_t &t)
 
Vector & computeCom (Vector &com, const sigtime_t &t)
 
Vector & computeComddot (Vector &comdot, const sigtime_t &t)
 
Vector & computeComdot (Vector &comdot, const sigtime_t &t)
 
Vector & computeForceFoot (Vector &, const std::vector< Vector > &, const sigtime_t &)
 
Vector & computeForceLeftFoot (Vector &force, const sigtime_t &t)
 
Vector & computeForceRightFoot (Vector &force, const sigtime_t &t)
 
MatrixHomogeneous & computeLeftAnkle (MatrixHomogeneous &la, const sigtime_t &t)
 
Vector & computeLeftAnkleVel (Vector &velocity, const sigtime_t &t)
 
Vector & computePosture (Vector &pos, const sigtime_t &t)
 
MatrixHomogeneous & computeRightAnkle (MatrixHomogeneous &ra, const sigtime_t &t)
 
Vector & computeRightAnkleVel (Vector &velocity, const sigtime_t &t)
 
Vector & computeZMP (Vector &comdot, const sigtime_t &t)
 
 DYNAMIC_GRAPH_ENTITY_DECL ()
 
virtual std::string getDocString () const
 
void load (const std::string &filename)
 
void readAnkleFile (std::ifstream &, std::vector< MatrixHomogeneous > &, const std::string &)
 
void readForceFile (std::ifstream &, std::vector< Vector > &, const std::string &)
 
 Seqplay (const std::string &name)
 
void start ()
 

Private Attributes

std::vector< Vector > com_
 
std::vector< Vector > comddot_
 
Signal< Vector, sigtime_t > comddotSOUT_
 
std::vector< Vector > comdot_
 
Signal< Vector, sigtime_t > comdotSOUT_
 
Signal< Vector, sigtime_t > comSOUT_
 
unsigned int configId_
 
bool facultativeFound_ [7]
 
std::vector< Vector > forceLeftFoot_
 
Signal< Vector, sigtime_t > forceLeftFootSOUT_
 
std::vector< Vector > forceRightFoot_
 
Signal< Vector, sigtime_t > forceRightFootSOUT_
 
std::vector< MatrixHomogeneous > leftAnkle_
 
std::vector< Vector > leftAnkleDot_
 
Signal< MatrixHomogeneous, sigtime_t > leftAnkleSOUT_
 
Signal< Vector, sigtime_t > leftAnkleVelSOUT_
 
std::vector< Vector > posture_
 
Signal< Vector, sigtime_t > postureSOUT_
 
MatrixRotation R0_
 
MatrixRotation R0t_
 
MatrixRotation R1_
 
MatrixRotation R1R0t_
 
std::vector< MatrixHomogeneous > rightAnkle_
 
std::vector< Vector > rightAnkleDot_
 
Signal< MatrixHomogeneous, sigtime_t > rightAnkleSOUT_
 
Signal< Vector, sigtime_t > rightAnkleVelSOUT_
 
sigtime_t startTime_
 
unsigned int state_
 
std::vector< double > time_
 
std::vector< Vector > zmp_
 
Signal< Vector, sigtime_t > zmpSOUT_
 

Additional Inherited Members

- 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 inherited from dynamicgraph::Entity
virtual void display (std::ostream &os) const
 
std::ostream & displaySignalList (std::ostream &os) const
 
 Entity (const std::string &name)
 
virtual const std::string & getClassName () const
 
const std::string & getCommandList () 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 ()
 
- 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 inherited from dynamicgraph::Entity
CommandMap_t commandMap
 
Logger logger_
 
std::string name
 
SignalMap signalMap
 

Detailed Description

Definition at line 28 of file seqplay.hh.

Constructor & Destructor Documentation

◆ Seqplay()

dynamicgraph::sot::tools::Seqplay::Seqplay ( const std::string &  name)
private

Definition at line 25 of file seqplay.cc.

Member Function Documentation

◆ computeAnkleVelocity()

Vector & dynamicgraph::sot::tools::Seqplay::computeAnkleVelocity ( Vector &  velocity,
const std::vector< MatrixHomogeneous > &  ankleVector,
const sigtime_t &  t 
)
private

Definition at line 509 of file seqplay.cc.

◆ computeCom()

Vector & dynamicgraph::sot::tools::Seqplay::computeCom ( Vector &  com,
const sigtime_t &  t 
)
private

Definition at line 586 of file seqplay.cc.

◆ computeComddot()

Vector & dynamicgraph::sot::tools::Seqplay::computeComddot ( Vector &  comdot,
const sigtime_t &  t 
)
private

Definition at line 670 of file seqplay.cc.

◆ computeComdot()

Vector & dynamicgraph::sot::tools::Seqplay::computeComdot ( Vector &  comdot,
const sigtime_t &  t 
)
private

Definition at line 625 of file seqplay.cc.

◆ computeForceFoot()

Vector & dynamicgraph::sot::tools::Seqplay::computeForceFoot ( Vector &  force,
const std::vector< Vector > &  forceVector,
const sigtime_t &  t 
)
private

Definition at line 731 of file seqplay.cc.

◆ computeForceLeftFoot()

Vector & dynamicgraph::sot::tools::Seqplay::computeForceLeftFoot ( Vector &  force,
const sigtime_t &  t 
)
private

Definition at line 753 of file seqplay.cc.

◆ computeForceRightFoot()

Vector & dynamicgraph::sot::tools::Seqplay::computeForceRightFoot ( Vector &  force,
const sigtime_t &  t 
)
private

Definition at line 757 of file seqplay.cc.

◆ computeLeftAnkle()

MatrixHomogeneous & dynamicgraph::sot::tools::Seqplay::computeLeftAnkle ( MatrixHomogeneous &  la,
const sigtime_t &  t 
)
private

Definition at line 467 of file seqplay.cc.

◆ computeLeftAnkleVel()

Vector & dynamicgraph::sot::tools::Seqplay::computeLeftAnkleVel ( Vector &  velocity,
const sigtime_t &  t 
)
private

Definition at line 545 of file seqplay.cc.

◆ computePosture()

Vector & dynamicgraph::sot::tools::Seqplay::computePosture ( Vector &  pos,
const sigtime_t &  t 
)
private

Definition at line 447 of file seqplay.cc.

◆ computeRightAnkle()

MatrixHomogeneous & dynamicgraph::sot::tools::Seqplay::computeRightAnkle ( MatrixHomogeneous &  ra,
const sigtime_t &  t 
)
private

Definition at line 488 of file seqplay.cc.

◆ computeRightAnkleVel()

Vector & dynamicgraph::sot::tools::Seqplay::computeRightAnkleVel ( Vector &  velocity,
const sigtime_t &  t 
)
private

Definition at line 566 of file seqplay.cc.

◆ computeZMP()

Vector & dynamicgraph::sot::tools::Seqplay::computeZMP ( Vector &  comdot,
const sigtime_t &  t 
)
private

Definition at line 606 of file seqplay.cc.

◆ DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::tools::Seqplay::DYNAMIC_GRAPH_ENTITY_DECL ( )
private

◆ getDocString()

std::string dynamicgraph::sot::tools::Seqplay::getDocString ( ) const
privatevirtual

Reimplemented from dynamicgraph::Entity.

Definition at line 761 of file seqplay.cc.

◆ load()

void dynamicgraph::sot::tools::Seqplay::load ( const std::string &  filename)
private

Definition at line 106 of file seqplay.cc.

◆ readAnkleFile()

void dynamicgraph::sot::tools::Seqplay::readAnkleFile ( std::ifstream &  file,
std::vector< MatrixHomogeneous > &  data,
const std::string &  filename 
)
private

Definition at line 779 of file seqplay.cc.

◆ readForceFile()

void dynamicgraph::sot::tools::Seqplay::readForceFile ( std::ifstream &  file,
std::vector< Vector > &  data,
const std::string &  filename 
)
private

Definition at line 815 of file seqplay.cc.

◆ start()

void dynamicgraph::sot::tools::Seqplay::start ( )
private

Definition at line 437 of file seqplay.cc.

Member Data Documentation

◆ com_

std::vector<Vector> dynamicgraph::sot::tools::Seqplay::com_
private

Definition at line 84 of file seqplay.hh.

◆ comddot_

std::vector<Vector> dynamicgraph::sot::tools::Seqplay::comddot_
private

Definition at line 86 of file seqplay.hh.

◆ comddotSOUT_

Signal<Vector, sigtime_t> dynamicgraph::sot::tools::Seqplay::comddotSOUT_
private

Definition at line 36 of file seqplay.hh.

◆ comdot_

std::vector<Vector> dynamicgraph::sot::tools::Seqplay::comdot_
private

Definition at line 85 of file seqplay.hh.

◆ comdotSOUT_

Signal<Vector, sigtime_t> dynamicgraph::sot::tools::Seqplay::comdotSOUT_
private

Definition at line 35 of file seqplay.hh.

◆ comSOUT_

Signal<Vector, sigtime_t> dynamicgraph::sot::tools::Seqplay::comSOUT_
private

Definition at line 34 of file seqplay.hh.

◆ configId_

unsigned int dynamicgraph::sot::tools::Seqplay::configId_
private

Definition at line 74 of file seqplay.hh.

◆ facultativeFound_

bool dynamicgraph::sot::tools::Seqplay::facultativeFound_[7]
private

Definition at line 89 of file seqplay.hh.

◆ forceLeftFoot_

std::vector<Vector> dynamicgraph::sot::tools::Seqplay::forceLeftFoot_
private

Definition at line 91 of file seqplay.hh.

◆ forceLeftFootSOUT_

Signal<Vector, sigtime_t> dynamicgraph::sot::tools::Seqplay::forceLeftFootSOUT_
private

Definition at line 37 of file seqplay.hh.

◆ forceRightFoot_

std::vector<Vector> dynamicgraph::sot::tools::Seqplay::forceRightFoot_
private

Definition at line 92 of file seqplay.hh.

◆ forceRightFootSOUT_

Signal<Vector, sigtime_t> dynamicgraph::sot::tools::Seqplay::forceRightFootSOUT_
private

Definition at line 38 of file seqplay.hh.

◆ leftAnkle_

std::vector<MatrixHomogeneous> dynamicgraph::sot::tools::Seqplay::leftAnkle_
private

Definition at line 78 of file seqplay.hh.

◆ leftAnkleDot_

std::vector<Vector> dynamicgraph::sot::tools::Seqplay::leftAnkleDot_
private

Definition at line 81 of file seqplay.hh.

◆ leftAnkleSOUT_

Signal<MatrixHomogeneous, sigtime_t> dynamicgraph::sot::tools::Seqplay::leftAnkleSOUT_
private

Definition at line 30 of file seqplay.hh.

◆ leftAnkleVelSOUT_

Signal<Vector, sigtime_t> dynamicgraph::sot::tools::Seqplay::leftAnkleVelSOUT_
private

Definition at line 32 of file seqplay.hh.

◆ posture_

std::vector<Vector> dynamicgraph::sot::tools::Seqplay::posture_
private

Definition at line 77 of file seqplay.hh.

◆ postureSOUT_

Signal<Vector, sigtime_t> dynamicgraph::sot::tools::Seqplay::postureSOUT_
private

Definition at line 29 of file seqplay.hh.

◆ R0_

MatrixRotation dynamicgraph::sot::tools::Seqplay::R0_
private

Definition at line 96 of file seqplay.hh.

◆ R0t_

MatrixRotation dynamicgraph::sot::tools::Seqplay::R0t_
private

Definition at line 96 of file seqplay.hh.

◆ R1_

MatrixRotation dynamicgraph::sot::tools::Seqplay::R1_
private

Definition at line 96 of file seqplay.hh.

◆ R1R0t_

MatrixRotation dynamicgraph::sot::tools::Seqplay::R1R0t_
private

Definition at line 96 of file seqplay.hh.

◆ rightAnkle_

std::vector<MatrixHomogeneous> dynamicgraph::sot::tools::Seqplay::rightAnkle_
private

Definition at line 79 of file seqplay.hh.

◆ rightAnkleDot_

std::vector<Vector> dynamicgraph::sot::tools::Seqplay::rightAnkleDot_
private

Definition at line 82 of file seqplay.hh.

◆ rightAnkleSOUT_

Signal<MatrixHomogeneous, sigtime_t> dynamicgraph::sot::tools::Seqplay::rightAnkleSOUT_
private

Definition at line 31 of file seqplay.hh.

◆ rightAnkleVelSOUT_

Signal<Vector, sigtime_t> dynamicgraph::sot::tools::Seqplay::rightAnkleVelSOUT_
private

Definition at line 33 of file seqplay.hh.

◆ startTime_

sigtime_t dynamicgraph::sot::tools::Seqplay::startTime_
private

Definition at line 75 of file seqplay.hh.

◆ state_

unsigned int dynamicgraph::sot::tools::Seqplay::state_
private

Definition at line 73 of file seqplay.hh.

◆ time_

std::vector<double> dynamicgraph::sot::tools::Seqplay::time_
private

Definition at line 93 of file seqplay.hh.

◆ zmp_

std::vector<Vector> dynamicgraph::sot::tools::Seqplay::zmp_
private

Definition at line 87 of file seqplay.hh.

◆ zmpSOUT_

Signal<Vector, sigtime_t> dynamicgraph::sot::tools::Seqplay::zmpSOUT_
private

Definition at line 40 of file seqplay.hh.

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

sot-tools
Author(s): Mehdi Benallegue, Francois Keith, Florent Lamiraux, Thomas Moulard, Olivier Stasse, Jorrit T'Hooft
autogenerated on Wed Aug 2 2023 02:35:13