PatternGeneratorJRL::SupportFSM Class Reference

#include <PreviewControl/SupportFSM.hh>

List of all members.

Public Member Functions
	SupportFSM (const double &SamplingPeriod)
	~SupportFSM ()
void	setSupportState (const double &Time, const int &pi, SupportState_t &Support, const ReferenceAbsoluteVelocity &RefVel)
	Initialize the previewed state.
Public Attributes
double	m_eps
	Numerical precision.
double	m_DSDuration
	constants for the durations in the support phases
double	m_SSPeriod
double	m_DSSSDuration
unsigned int	m_NbOfStepsSSDS

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Constructor & Destructor Documentation

SupportFSM::SupportFSM

(

const double &

SamplingPeriod

)

Constructor

SupportFSM::~SupportFSM

(

)

Destructor

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Member Function Documentation

void SupportFSM::setSupportState	(	const double &	Time,
		const int &	pi,
		SupportState_t &	Support,
		const ReferenceAbsoluteVelocity &	RefVel
	)

Initialize the previewed state.

References PatternGeneratorJRL::ReferenceAbsoluteVelocity_t::x, and PatternGeneratorJRL::ReferenceAbsoluteVelocity_t::y.

Referenced by PatternGeneratorJRL::FootConstraintsAsLinearSystemForVelRef::buildLinearConstraintInequalities().

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Member Data Documentation

double PatternGeneratorJRL::SupportFSM::m_DSDuration

constants for the durations in the support phases

double PatternGeneratorJRL::SupportFSM::m_DSSSDuration

double PatternGeneratorJRL::SupportFSM::m_eps

Numerical precision.

unsigned int PatternGeneratorJRL::SupportFSM::m_NbOfStepsSSDS

double PatternGeneratorJRL::SupportFSM::m_SSPeriod