10 #ifndef __SOT_SMOOTHREACH_H_H 11 #define __SOT_SMOOTHREACH_H_H 18 #include <dynamic-graph/linear-algebra.h> 22 #include <dynamic-graph/all-signals.h> 23 #include <dynamic-graph/entity.h> 30 #if defined(com_freezer_EXPORTS) 31 #define SOTSMOOTHREACH_EXPORT __declspec(dllexport) 33 #define SOTSMOOTHREACH_EXPORT __declspec(dllimport) 36 #define SOTSMOOTHREACH_EXPORT 51 virtual const std::string &
getClassName()
const {
return CLASS_NAME; }
54 dg::Vector start, goal;
55 int startTime, lengthTime;
56 bool isStarted, isParam;
60 double smoothFunction(
double x);
67 dg::SignalPtr<dg::Vector, int> startSIN;
68 dg::SignalTimeDependent<dg::Vector, int>
goalSOUT;
72 dg::Vector &goalSOUT_function(dg::Vector &goal,
const int &time);
74 void set(
const dg::Vector &goal,
const int &length);
75 const dg::Vector &getGoal(
void);
76 const int &getLength(
void);
77 const int &getStart(
void);
79 void setSmoothing(
const int &mode,
const double ¶m);
82 virtual void display(std::ostream &os)
const;
83 void initCommands(
void);
Definition: smooth-reach.hh:48
static const std::string CLASS_NAME
Definition: smooth-reach.hh:50
virtual const std::string & getClassName() const
Definition: smooth-reach.hh:51
#define SOTSMOOTHREACH_EXPORT
Definition: smooth-reach.hh:36
dg::SignalTimeDependent< dg::Vector, int > goalSOUT
Definition: smooth-reach.hh:68
virtual ~SmoothReach(void)
Definition: smooth-reach.hh:64
Definition: abstract-sot-external-interface.hh:17