Step Class Reference

#include <step.h>

Public Member Functions
	Step (string name)
	~Step ()
void	getNextFrame (float positions, float hardnesses)
bool	hasEnded ()
void	getInitialPose (float positions, float hardnesses)
Public Attributes
string	Name
float	StepOriginalPositions [STEP_MAX_LENGTH][ALIAS_TARGETS_NOT_HEAD_LENGTH]
float	StepPositions [STEP_MAX_LENGTH][ALIAS_TARGETS_NOT_HEAD_LENGTH]
float	StepOriginalHardnesses [STEP_MAX_LENGTH][ALIAS_HARDNESS_NOT_HEAD_LENGTH]
float	StepHardnesses [STEP_MAX_LENGTH][ALIAS_TARGETS_NOT_HEAD_LENGTH]
float	StepSupportHardnesses [SM_NUM_MODES][SH_NUM_JOINTS]
unsigned char	StepLength
float	StepDirection
StepClassEnum	StepClass
StepTypeEnum	StepType
bool	StepLeft
Step *	NaturalNext
Step *	StopNext

Constructor & Destructor Documentation

Step::Step ( string name )

Create a simple container for the step

Parameters:

name,the

name will be used to locate the file storing the step, and to configure properties of the step itself the name should be something like WalkForwardLeftStart where the format is WalkTypeValueLeftClass (Value is optional)

Step::~Step ( )

Member Function Documentation

void Step::getInitialPose	(	float **	positions,
		float **	hardnesses
	)

Get the initial pose for this step. Note that you will get a rubbish pose if this step is not a starting step!

Parameters:

		a pointer to an array where the positions of the initial pose are stored
		a pointer to an array that will be updated to point to where the hardnesses are stored

void Step::getNextFrame	(	float **	positions,
		float **	hardnesses
	)

Get the next frame of positions and hardnesses for this step

Parameters:

	positions,a	pointer to the array where the positions will be stored
	hardnesses,a	pointer to the array where the hardnesses will be stored Pointers to arrays are used so that no data actually needs to be transferred, I just set the pointer to the next frame

bool Step::hasEnded ( )

Returns true if this step has finished, false otherwise Postconditions: This step is also reset, so that when it is used again we start from the begining