integrator-force-exact.h
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1/*
2 * Copyright 2010,
3 * François Bleibel,
4 * Olivier Stasse,
5 *
6 * CNRS/AIST
7 *
8 */
9
10#ifndef __SOT_SOTINTEGRATORFORCEEXACT_H__
11#define __SOT_SOTINTEGRATORFORCEEXACT_H__
12
13/* --------------------------------------------------------------------- */
14/* --- INCLUDE --------------------------------------------------------- */
15/* --------------------------------------------------------------------- */
16
17/* Matrix */
18#include <dynamic-graph/linear-algebra.h>
19
20/* SOT */
21#include <dynamic-graph/entity.h>
22#include <dynamic-graph/signal-ptr.h>
23#include <dynamic-graph/signal-time-dependent.h>
25
26#include <sot/core/matrix-geometry.hh>
27
28/* STD */
29#include <string>
30
31/* --------------------------------------------------------------------- */
32/* --- API ------------------------------------------------------------- */
33/* --------------------------------------------------------------------- */
34
35#if defined(WIN32)
36#if defined(integrator_force_exact_EXPORTS)
37#define SOTINTEGRATORFORCEEXACT_EXPORT __declspec(dllexport)
38#else
39#define SOTINTEGRATORFORCEEXACT_EXPORT __declspec(dllimport)
40#endif
41#else
42#define SOTINTEGRATORFORCEEXACT_EXPORT
43#endif
44
45namespace dynamicgraph {
46namespace sot {
47namespace dg = dynamicgraph;
48
49/* --------------------------------------------------------------------- */
50/* --- CLASS ----------------------------------------------------------- */
51/* --------------------------------------------------------------------- */
52
54 : public IntegratorForce {
55 public:
56 static const std::string CLASS_NAME;
57
58 protected:
59 public: /* --- CONSTRUCTION --- */
60 IntegratorForceExact(const std::string& name);
61 virtual ~IntegratorForceExact(void);
62
63 public: /* --- SIGNAL --- */
64 public: /* --- FUNCTIONS --- */
65 dynamicgraph::Vector& computeVelocityExact(dynamicgraph::Vector& res,
66 const int& time);
67};
68
69} /* namespace sot */
70} /* namespace dynamicgraph */
71
72#endif // #ifndef __SOT_SOTINTEGRATORFORCEEXACT_H__
Definition: integrator-force-exact.h:54
static const std::string CLASS_NAME
Definition: integrator-force-exact.h:56
dynamicgraph::Vector & computeVelocityExact(dynamicgraph::Vector &res, const int &time)
IntegratorForceExact(const std::string &name)
Definition: integrator-force.h:52
#define SOTINTEGRATORFORCEEXACT_EXPORT
Definition: integrator-force-exact.h:42
Definition: angle-estimator.h:43