10 #ifndef __SOT_SOTINTEGRATORFORCE_H__
11 #define __SOT_SOTINTEGRATORFORCE_H__
18 #include <dynamic-graph/linear-algebra.h>
21 #include <dynamic-graph/entity.h>
22 #include <dynamic-graph/signal-ptr.h>
23 #include <dynamic-graph/signal-time-dependent.h>
24 #include <sot/core/matrix-geometry.hh>
34 #if defined(integrator_force_EXPORTS)
35 #define SOTINTEGRATORFORCE_EXPORT __declspec(dllexport)
37 #define SOTINTEGRATORFORCE_EXPORT __declspec(dllimport)
40 #define SOTINTEGRATORFORCE_EXPORT
54 virtual const std::string&
getClassName(
void)
const {
return CLASS_NAME; }
65 dg::SignalPtr<dynamicgraph::Vector, int>
forceSIN;
75 dg::SignalPtr<dynamicgraph::Matrix, int>
massSIN;
80 dynamicgraph::Vector&
computeIntegral(dynamicgraph::Vector& res,
const int& time);
Definition: integrator-force.h:51
dg::SignalPtr< dynamicgraph::Vector, int > forceSIN
Definition: integrator-force.h:65
dynamicgraph::Matrix & computeMassInverse(dynamicgraph::Matrix &res, const int &time)
dynamicgraph::Vector & computeDerivative(dynamicgraph::Vector &res, const int &time)
virtual ~IntegratorForce(void)
static const double TIME_STEP_DEFAULT
Definition: integrator-force.h:58
dynamicgraph::Vector & computeIntegral(dynamicgraph::Vector &res, const int &time)
double timeStep
Definition: integrator-force.h:57
dg::SignalPtr< dynamicgraph::Matrix, int > frictionSIN
Definition: integrator-force.h:67
virtual const std::string & getClassName(void) const
Definition: integrator-force.h:54
IntegratorForce(const std::string &name)
dg::SignalTimeDependent< dynamicgraph::Vector, int > velocitySOUT
Definition: integrator-force.h:73
dg::SignalPtr< dynamicgraph::Vector, int > velocityPrecSIN
Definition: integrator-force.h:71
dg::SignalTimeDependent< dynamicgraph::Vector, int > velocityDerivativeSOUT
Definition: integrator-force.h:72
dg::SignalPtr< dynamicgraph::Matrix, int > massSIN
Definition: integrator-force.h:75
dg::SignalPtr< dynamicgraph::Matrix, int > massInverseSIN
Definition: integrator-force.h:66
static const std::string CLASS_NAME
Definition: integrator-force.h:53
dg::SignalTimeDependent< dynamicgraph::Matrix, int > massInverseSOUT
Definition: integrator-force.h:76
#define SOTINTEGRATORFORCE_EXPORT
Definition: integrator-force.h:40
Definition: angle-estimator.h:42