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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>naowalkoptimiser: Step Class Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
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<!-- Generated by Doxygen 1.6.1 -->
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<div class="contents">
<h1>Step Class Reference</h1><!-- doxytag: class="Step" -->
<p><code>#include <<a class="el" href="step_8h_source.html">step.h</a>></code></p>
<p><a href="class_step-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#a6efc94dcecbdd49e993afc5080500cef">Step</a> (string name)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#aaedd45ac621bb7f9a8383078d37d5d2c">~Step</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#aa4150a657014f4256f15f2413fc0e3a4">getNextFrame</a> (float **positions, float **hardnesses)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#aa776d8967feef9072549b4ba6a5fa950">hasEnded</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#ab710720dcb69a46fdf79145a91bd66fa">getInitialPose</a> (float **positions, float **hardnesses)</td></tr>
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">string </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#a9f1768eccbc73f904318992460cde272">Name</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#adf11ebf48e72502a12ab3c04379a49d9">StepOriginalPositions</a> [STEP_MAX_LENGTH][ALIAS_TARGETS_NOT_HEAD_LENGTH]</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#a0d592940151841c1e0de60b5c04128f8">StepPositions</a> [STEP_MAX_LENGTH][ALIAS_TARGETS_NOT_HEAD_LENGTH]</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#a0470b8151ec9fd0805c583749fb76e91">StepOriginalHardnesses</a> [STEP_MAX_LENGTH][ALIAS_HARDNESS_NOT_HEAD_LENGTH]</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#a2ab199709edb80986e1d73826e05be88">StepHardnesses</a> [STEP_MAX_LENGTH][ALIAS_TARGETS_NOT_HEAD_LENGTH]</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#a575837efaebda50e88b020777df2974e">StepSupportHardnesses</a> [SM_NUM_MODES][SH_NUM_JOINTS]</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#a5589be18cb4db97fbc4203d53c6677df">StepLength</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#aafd9f00071010ea236791b52e5f5d3c6">StepDirection</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="step_8h.html#a0df8eb18782eca9dfb67b2d34cbb5278">StepClassEnum</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#afb50fe02a14f40e162fc84ab78a6a41f">StepClass</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="step_8h.html#afd73f941d60247a511c85ef1e63c989f">StepTypeEnum</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#a691eb342ebf47f622e9c7d8ba517fdcb">StepType</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#a92bf92c49199864b3b2c6418a134af95">StepLeft</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_step.html">Step</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#a3980188067e6480f5bfb7d95827c7ab9">NaturalNext</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_step.html">Step</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="class_step.html#aebec4dfe0b59eef467a2434138b67267">StopNext</a></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a6efc94dcecbdd49e993afc5080500cef"></a><!-- doxytag: member="Step::Step" ref="a6efc94dcecbdd49e993afc5080500cef" args="(string name)" -->
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<td class="memname">Step::Step </td>
<td>(</td>
<td class="paramtype">string </td>
<td class="paramname"> <em>name</em></td>
<td> ) </td>
<td></td>
</tr>
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<div class="memdoc">
<p>Create a simple container for the step </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>name,the</em> </td><td>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) </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="aaedd45ac621bb7f9a8383078d37d5d2c"></a><!-- doxytag: member="Step::~Step" ref="aaedd45ac621bb7f9a8383078d37d5d2c" args="()" -->
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<td class="memname">Step::~Step </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ab710720dcb69a46fdf79145a91bd66fa"></a><!-- doxytag: member="Step::getInitialPose" ref="ab710720dcb69a46fdf79145a91bd66fa" args="(float **positions, float **hardnesses)" -->
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<td class="memname">void Step::getInitialPose </td>
<td>(</td>
<td class="paramtype">float ** </td>
<td class="paramname"> <em>positions</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float ** </td>
<td class="paramname"> <em>hardnesses</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
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<div class="memdoc">
<p>Get the initial pose for this step. Note that you will get a rubbish pose if this step is not a starting step! </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em></em> </td><td>a pointer to an array where the positions of the initial pose are stored </td></tr>
<tr><td valign="top"></td><td valign="top"><em></em> </td><td>a pointer to an array that will be updated to point to where the hardnesses are stored </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="aa4150a657014f4256f15f2413fc0e3a4"></a><!-- doxytag: member="Step::getNextFrame" ref="aa4150a657014f4256f15f2413fc0e3a4" args="(float **positions, float **hardnesses)" -->
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<td class="memname">void Step::getNextFrame </td>
<td>(</td>
<td class="paramtype">float ** </td>
<td class="paramname"> <em>positions</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float ** </td>
<td class="paramname"> <em>hardnesses</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Get the next frame of positions and hardnesses for this step </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>positions,a</em> </td><td>pointer to the array where the positions will be stored </td></tr>
<tr><td valign="top"></td><td valign="top"><em>hardnesses,a</em> </td><td>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 </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="aa776d8967feef9072549b4ba6a5fa950"></a><!-- doxytag: member="Step::hasEnded" ref="aa776d8967feef9072549b4ba6a5fa950" args="()" -->
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<td class="memname">bool Step::hasEnded </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>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 </p>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a9f1768eccbc73f904318992460cde272"></a><!-- doxytag: member="Step::Name" ref="a9f1768eccbc73f904318992460cde272" args="" -->
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<td class="memname">string <a class="el" href="class_step.html#a9f1768eccbc73f904318992460cde272">Step::Name</a></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a3980188067e6480f5bfb7d95827c7ab9"></a><!-- doxytag: member="Step::NaturalNext" ref="a3980188067e6480f5bfb7d95827c7ab9" args="" -->
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<td class="memname"><a class="el" href="class_step.html">Step</a>* <a class="el" href="class_step.html#a3980188067e6480f5bfb7d95827c7ab9">Step::NaturalNext</a></td>
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</table>
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<div class="memdoc">
</div>
</div>
<a class="anchor" id="afb50fe02a14f40e162fc84ab78a6a41f"></a><!-- doxytag: member="Step::StepClass" ref="afb50fe02a14f40e162fc84ab78a6a41f" args="" -->
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<td class="memname"><a class="el" href="step_8h.html#a0df8eb18782eca9dfb67b2d34cbb5278">StepClassEnum</a> <a class="el" href="class_step.html#afb50fe02a14f40e162fc84ab78a6a41f">Step::StepClass</a></td>
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</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="aafd9f00071010ea236791b52e5f5d3c6"></a><!-- doxytag: member="Step::StepDirection" ref="aafd9f00071010ea236791b52e5f5d3c6" args="" -->
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<td class="memname">float <a class="el" href="class_step.html#aafd9f00071010ea236791b52e5f5d3c6">Step::StepDirection</a></td>
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<a class="anchor" id="a2ab199709edb80986e1d73826e05be88"></a><!-- doxytag: member="Step::StepHardnesses" ref="a2ab199709edb80986e1d73826e05be88" args="[STEP_MAX_LENGTH][ALIAS_TARGETS_NOT_HEAD_LENGTH]" -->
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<td class="memname">float <a class="el" href="class_step.html#a2ab199709edb80986e1d73826e05be88">Step::StepHardnesses</a>[STEP_MAX_LENGTH][ALIAS_TARGETS_NOT_HEAD_LENGTH]</td>
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<a class="anchor" id="a92bf92c49199864b3b2c6418a134af95"></a><!-- doxytag: member="Step::StepLeft" ref="a92bf92c49199864b3b2c6418a134af95" args="" -->
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<td class="memname">bool <a class="el" href="class_step.html#a92bf92c49199864b3b2c6418a134af95">Step::StepLeft</a></td>
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<a class="anchor" id="a5589be18cb4db97fbc4203d53c6677df"></a><!-- doxytag: member="Step::StepLength" ref="a5589be18cb4db97fbc4203d53c6677df" args="" -->
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<td class="memname">unsigned char <a class="el" href="class_step.html#a5589be18cb4db97fbc4203d53c6677df">Step::StepLength</a></td>
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<a class="anchor" id="a0470b8151ec9fd0805c583749fb76e91"></a><!-- doxytag: member="Step::StepOriginalHardnesses" ref="a0470b8151ec9fd0805c583749fb76e91" args="[STEP_MAX_LENGTH][ALIAS_HARDNESS_NOT_HEAD_LENGTH]" -->
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<td class="memname">float <a class="el" href="class_step.html#a0470b8151ec9fd0805c583749fb76e91">Step::StepOriginalHardnesses</a>[STEP_MAX_LENGTH][ALIAS_HARDNESS_NOT_HEAD_LENGTH]</td>
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<a class="anchor" id="adf11ebf48e72502a12ab3c04379a49d9"></a><!-- doxytag: member="Step::StepOriginalPositions" ref="adf11ebf48e72502a12ab3c04379a49d9" args="[STEP_MAX_LENGTH][ALIAS_TARGETS_NOT_HEAD_LENGTH]" -->
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<td class="memname">float <a class="el" href="class_step.html#adf11ebf48e72502a12ab3c04379a49d9">Step::StepOriginalPositions</a>[STEP_MAX_LENGTH][ALIAS_TARGETS_NOT_HEAD_LENGTH]</td>
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<a class="anchor" id="a0d592940151841c1e0de60b5c04128f8"></a><!-- doxytag: member="Step::StepPositions" ref="a0d592940151841c1e0de60b5c04128f8" args="[STEP_MAX_LENGTH][ALIAS_TARGETS_NOT_HEAD_LENGTH]" -->
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<td class="memname">float <a class="el" href="class_step.html#a0d592940151841c1e0de60b5c04128f8">Step::StepPositions</a>[STEP_MAX_LENGTH][ALIAS_TARGETS_NOT_HEAD_LENGTH]</td>
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<a class="anchor" id="a575837efaebda50e88b020777df2974e"></a><!-- doxytag: member="Step::StepSupportHardnesses" ref="a575837efaebda50e88b020777df2974e" args="[SM_NUM_MODES][SH_NUM_JOINTS]" -->
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<td class="memname">float <a class="el" href="class_step.html#a575837efaebda50e88b020777df2974e">Step::StepSupportHardnesses</a>[SM_NUM_MODES][SH_NUM_JOINTS]</td>
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<a class="anchor" id="a691eb342ebf47f622e9c7d8ba517fdcb"></a><!-- doxytag: member="Step::StepType" ref="a691eb342ebf47f622e9c7d8ba517fdcb" args="" -->
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<td class="memname"><a class="el" href="step_8h.html#afd73f941d60247a511c85ef1e63c989f">StepTypeEnum</a> <a class="el" href="class_step.html#a691eb342ebf47f622e9c7d8ba517fdcb">Step::StepType</a></td>
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<a class="anchor" id="aebec4dfe0b59eef467a2434138b67267"></a><!-- doxytag: member="Step::StopNext" ref="aebec4dfe0b59eef467a2434138b67267" args="" -->
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<td class="memname"><a class="el" href="class_step.html">Step</a>* <a class="el" href="class_step.html#aebec4dfe0b59eef467a2434138b67267">Step::StopNext</a></td>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/Users/jason/Code/naowalkoptimiser/src/Locomotion/Walk/<a class="el" href="step_8h_source.html">step.h</a></li>
<li>/Users/jason/Code/naowalkoptimiser/src/Locomotion/Walk/<a class="el" href="step_8cpp.html">step.cpp</a></li>
</ul>
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