waist-attitude-from-sensor.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_WAISTATTITUDEFROMSENSOR_H__
11#define __SOT_WAISTATTITUDEFROMSENSOR_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>
24
25#include <sot/core/matrix-geometry.hh>
26
27/* STD */
28#include <string>
29
30/* --------------------------------------------------------------------- */
31/* --- API ------------------------------------------------------------- */
32/* --------------------------------------------------------------------- */
33
34#if defined(WIN32)
35#if defined(waist_attitude_from_sensor_EXPORTS)
36#define SOTWAISTATTITUDEFROMSENSOR_EXPORT __declspec(dllexport)
37#else
38#define SOTWAISTATTITUDEFROMSENSOR_EXPORT __declspec(dllimport)
39#endif
40#else
41#define SOTWAISTATTITUDEFROMSENSOR_EXPORT
42#endif
43
44namespace dynamicgraph {
45namespace sot {
46namespace dg = dynamicgraph;
47
48/* --------------------------------------------------------------------- */
49/* --- CLASS ----------------------------------------------------------- */
50/* --------------------------------------------------------------------- */
51
53 : public dg::Entity {
54 public:
55 static const std::string CLASS_NAME;
56 virtual const std::string& getClassName(void) const { return CLASS_NAME; }
57
58 public: /* --- CONSTRUCTION --- */
59 WaistAttitudeFromSensor(const std::string& name);
61
62 public: /* --- SIGNAL --- */
63 VectorRollPitchYaw& computeAttitudeWaist(VectorRollPitchYaw& res,
64 const int& time);
65
66 dg::SignalPtr<MatrixRotation, int> attitudeSensorSIN;
67 dg::SignalPtr<MatrixHomogeneous, int> positionSensorSIN;
68 dg::SignalTimeDependent<VectorRollPitchYaw, int> attitudeWaistSOUT;
69};
70
73 public:
74 static const std::string CLASS_NAME;
75
76 protected:
77 void fromSensor(const bool& inFromSensor) { fromSensor_ = inFromSensor; }
78 bool fromSensor() const { return fromSensor_; }
79
80 private:
81 bool fromSensor_;
82
83 public: /* --- CONSTRUCTION --- */
84 WaistPoseFromSensorAndContact(const std::string& name);
86
87 public: /* --- SIGNAL --- */
88 dynamicgraph::Vector& computePositionWaist(dynamicgraph::Vector& res,
89 const int& time);
90
91 dg::SignalPtr<MatrixHomogeneous, int> positionContactSIN;
92 dg::SignalTimeDependent<dynamicgraph::Vector, int> positionWaistSOUT;
93};
94
95} /* namespace sot */
96} /* namespace dynamicgraph */
97
98#endif // #ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__
Definition: waist-attitude-from-sensor.h:53
static const std::string CLASS_NAME
Definition: waist-attitude-from-sensor.h:55
virtual const std::string & getClassName(void) const
Definition: waist-attitude-from-sensor.h:56
VectorRollPitchYaw & computeAttitudeWaist(VectorRollPitchYaw &res, const int &time)
dg::SignalPtr< MatrixHomogeneous, int > positionSensorSIN
Definition: waist-attitude-from-sensor.h:67
WaistAttitudeFromSensor(const std::string &name)
dg::SignalTimeDependent< VectorRollPitchYaw, int > attitudeWaistSOUT
Definition: waist-attitude-from-sensor.h:68
dg::SignalPtr< MatrixRotation, int > attitudeSensorSIN
Definition: waist-attitude-from-sensor.h:66
Definition: waist-attitude-from-sensor.h:72
dg::SignalPtr< MatrixHomogeneous, int > positionContactSIN
Definition: waist-attitude-from-sensor.h:91
dg::SignalTimeDependent< dynamicgraph::Vector, int > positionWaistSOUT
Definition: waist-attitude-from-sensor.h:92
dynamicgraph::Vector & computePositionWaist(dynamicgraph::Vector &res, const int &time)
WaistPoseFromSensorAndContact(const std::string &name)
void fromSensor(const bool &inFromSensor)
Definition: waist-attitude-from-sensor.h:77
static const std::string CLASS_NAME
Definition: waist-attitude-from-sensor.h:74
bool fromSensor() const
Definition: waist-attitude-from-sensor.h:78
Definition: angle-estimator.h:43
#define SOTWAISTATTITUDEFROMSENSOR_EXPORT
Definition: waist-attitude-from-sensor.h:41