A sparse MPC solver for walking motion generation (old version).: WMG/footstep.h Source File

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00001 
00008 #ifndef FOOTSTEP_H
00009 #define FOOTSTEP_H
00010 
00011 /****************************************
00012  * INCLUDES 
00013  ****************************************/
00014 
00015 #include "rect_constraint.h"
00016 #include "WMG.h"
00017 
00018 
00019 
00020 /****************************************
00021  * TYPEDEFS 
00022  ****************************************/
00023 
00024 
00027 
00029 class footstep : public RectangularConstraint_ZMP
00030 {
00031     public:
00032         footstep (
00033                 const double, 
00034                 const Transform<double, 3>&,
00035                 const Vector3d&,
00036                 const unsigned int, 
00037                 const fs_type, 
00038                 const double *);
00039         footstep (const footstep&);
00040         ~footstep();
00041 
00042         void changePosture(const double *, const bool);
00043         double x();
00044         double y();
00045 
00046 
00047 
00049         double angle;
00050 
00052         double ca;
00053 
00055         double sa;
00056 
00058         unsigned int time_period;
00059 
00061         unsigned int time_left;
00062 
00064         fs_type type;
00065 
00067         Vector3d ZMPref;
00068 
00069 
00070         Transform<double, 3>* posture;
00071 };
00073 #endif /*FOOTSTEP_H*/