10 #ifndef __SOT_SOTMASSAPPARENT_H__
11 #define __SOT_SOTMASSAPPARENT_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(mass_apparent_EXPORTS)
35 #define SOTMASSAPPARENT_EXPORT __declspec(dllexport)
37 #define SOTMASSAPPARENT_EXPORT __declspec(dllimport)
40 #define SOTMASSAPPARENT_EXPORT
53 virtual const std::string&
getClassName(
void)
const {
return CLASS_NAME; }
63 dg::SignalTimeDependent<dynamicgraph::Matrix, int>
massSOUT;
70 dynamicgraph::Matrix&
computeMass(dynamicgraph::Matrix& res,
const int& time);
Definition: mass-apparent.h:50
virtual const std::string & getClassName(void) const
Definition: mass-apparent.h:53
dg::SignalPtr< dynamicgraph::Matrix, int > inertiaInverseSIN
Definition: mass-apparent.h:61
dynamicgraph::Matrix & computeMass(dynamicgraph::Matrix &res, const int &time)
dynamicgraph::Matrix & computeMassInverse(dynamicgraph::Matrix &res, const int &time)
MassApparent(const std::string &name)
dg::SignalPtr< dynamicgraph::Matrix, int > jacobianSIN
Definition: mass-apparent.h:60
dg::SignalTimeDependent< dynamicgraph::Matrix, int > inertiaInverseSOUT
Definition: mass-apparent.h:66
virtual ~MassApparent(void)
dynamicgraph::Matrix & computeInertiaInverse(dynamicgraph::Matrix &res, const int &time)
dg::SignalTimeDependent< dynamicgraph::Matrix, int > massSOUT
Definition: mass-apparent.h:63
dg::SignalTimeDependent< dynamicgraph::Matrix, int > massInverseSOUT
Definition: mass-apparent.h:62
static const std::string CLASS_NAME
Definition: mass-apparent.h:52
dg::SignalPtr< dynamicgraph::Matrix, int > inertiaSIN
Definition: mass-apparent.h:65
#define SOTMASSAPPARENT_EXPORT
Definition: mass-apparent.h:40
Definition: angle-estimator.h:42