17 #ifndef __sot_talos_balance_dummy_walking_pattern_generator_H__ 18 #define __sot_talos_balance_dummy_walking_pattern_generator_H__ 25 # if defined (dummy_walking_pattern_generator_EXPORTS) 26 # define DUMMYWALKINGPATTERNGENERATOR_EXPORT __declspec(dllexport) 28 # define DUMMYWALKINGPATTERNGENERATOR_EXPORT __declspec(dllimport) 31 # define DUMMYWALKINGPATTERNGENERATOR_EXPORT 39 #include <dynamic-graph/signal-helper.h> 41 #include "boost/assign.hpp" 43 #include <sot/core/robot-utils.hh> 44 #include <sot/core/matrix-geometry.hh> 45 #include <dynamic-graph/linear-algebra.h> 49 namespace talos_balance {
56 :
public ::dynamicgraph::Entity
58 DYNAMIC_GRAPH_ENTITY_DECL();
61 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
69 DECLARE_SIGNAL_IN(omega,
double);
70 DECLARE_SIGNAL_IN(rho,
double);
71 DECLARE_SIGNAL_IN(phase,
int);
73 DECLARE_SIGNAL_IN(footLeft, MatrixHomogeneous);
74 DECLARE_SIGNAL_IN(footRight, MatrixHomogeneous);
75 DECLARE_SIGNAL_IN(waist, MatrixHomogeneous);
83 DECLARE_SIGNAL_IN(referenceFrame, MatrixHomogeneous);
85 DECLARE_SIGNAL_INNER(rf, MatrixHomogeneous);
93 DECLARE_SIGNAL_OUT(footLeftDes, MatrixHomogeneous);
94 DECLARE_SIGNAL_OUT(footRightDes, MatrixHomogeneous);
95 DECLARE_SIGNAL_OUT(waistDes, MatrixHomogeneous);
97 DECLARE_SIGNAL_OUT(omegaDes,
double);
98 DECLARE_SIGNAL_OUT(rhoDes,
double);
99 DECLARE_SIGNAL_OUT(phaseDes,
int);
103 virtual void display( std::ostream& os )
const;
109 MatrixHomogeneous actInv(MatrixHomogeneous m1, MatrixHomogeneous m2);
119 #endif // #ifndef __sot_talos_balance_dummy_walking_pattern_generator_H__ Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
#define DUMMYWALKINGPATTERNGENERATOR_EXPORT