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>
25#include <sot/core/matrix-geometry.hh>
35#if defined(mass_apparent_EXPORTS)
36#define SOTMASSAPPARENT_EXPORT __declspec(dllexport)
38#define SOTMASSAPPARENT_EXPORT __declspec(dllimport)
41#define SOTMASSAPPARENT_EXPORT
54 virtual const std::string&
getClassName(
void)
const {
return CLASS_NAME; }
64 dg::SignalTimeDependent<dynamicgraph::Matrix, int>
massSOUT;
72 dynamicgraph::Matrix&
computeMass(dynamicgraph::Matrix& res,
const int& time);
Definition: mass-apparent.h:51
dg::SignalPtr< dynamicgraph::Matrix, int > inertiaInverseSIN
Definition: mass-apparent.h:62
MassApparent(const std::string &name)
dynamicgraph::Matrix & computeInertiaInverse(dynamicgraph::Matrix &res, const int &time)
dg::SignalPtr< dynamicgraph::Matrix, int > jacobianSIN
Definition: mass-apparent.h:61
virtual const std::string & getClassName(void) const
Definition: mass-apparent.h:54
dynamicgraph::Matrix & computeMassInverse(dynamicgraph::Matrix &res, const int &time)
dynamicgraph::Matrix & computeMass(dynamicgraph::Matrix &res, const int &time)
dg::SignalTimeDependent< dynamicgraph::Matrix, int > inertiaInverseSOUT
Definition: mass-apparent.h:67
virtual ~MassApparent(void)
dg::SignalTimeDependent< dynamicgraph::Matrix, int > massSOUT
Definition: mass-apparent.h:64
dg::SignalTimeDependent< dynamicgraph::Matrix, int > massInverseSOUT
Definition: mass-apparent.h:63
static const std::string CLASS_NAME
Definition: mass-apparent.h:53
dg::SignalPtr< dynamicgraph::Matrix, int > inertiaSIN
Definition: mass-apparent.h:66
#define SOTMASSAPPARENT_EXPORT
Definition: mass-apparent.h:41
Definition: angle-estimator.h:43