sot-talos-balance  1.7.0
example.hh
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1 /*
2  * Copyright 2018, Gepetto team, LAAS-CNRS
3  *
4  * This file is part of sot-talos-balance.
5  * sot-talos-balance is free software: you can redistribute it and/or
6  * modify it under the terms of the GNU Lesser General Public License
7  * as published by the Free Software Foundation, either version 3 of
8  * the License, or (at your option) any later version.
9  * sot-talos-balance is distributed in the hope that it will be
10  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU Lesser General Public License for more details. You should
13  * have received a copy of the GNU Lesser General Public License along
14  * with sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
15  */
16 
17 #ifndef __sot_talos_balance_example_H__
18 #define __sot_talos_balance_example_H__
19 
20 /* --------------------------------------------------------------------- */
21 /* --- API ------------------------------------------------------------- */
22 /* --------------------------------------------------------------------- */
23 
24 #if defined (WIN32)
25 # if defined (position_controller_EXPORTS)
26 # define EXAMPLE_EXPORT __declspec(dllexport)
27 # else
28 # define EXAMPLE_EXPORT __declspec(dllimport)
29 # endif
30 #else
31 # define EXAMPLE_EXPORT
32 #endif
33 
34 
35 /* --------------------------------------------------------------------- */
36 /* --- INCLUDE --------------------------------------------------------- */
37 /* --------------------------------------------------------------------- */
38 
39 #include <dynamic-graph/signal-helper.h>
40 
41 #include <map>
42 #include "boost/assign.hpp"
43 #include <sot/core/robot-utils.hh>
44 
45 namespace dynamicgraph {
46  namespace sot {
47  namespace talos_balance {
48 
49  /* --------------------------------------------------------------------- */
50  /* --- CLASS ----------------------------------------------------------- */
51  /* --------------------------------------------------------------------- */
52 
54  : public ::dynamicgraph::Entity
55  {
56  DYNAMIC_GRAPH_ENTITY_DECL();
57 
58  public:
59  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
60 
61  /* --- CONSTRUCTOR ---- */
62  Example( const std::string & name );
63 
64  void init(const std::string& robotName);
65 
66  /* --- SIGNALS --- */
67  DECLARE_SIGNAL_IN(firstAddend, double);
68  DECLARE_SIGNAL_IN(secondAddend, double);
69 
70  DECLARE_SIGNAL_OUT(sum, double);
71  DECLARE_SIGNAL_OUT(nbJoints, int);
72 
73  /* --- COMMANDS --- */
74  /* --- ENTITY INHERITANCE --- */
75  virtual void display( std::ostream& os ) const;
76 
77  protected:
79  RobotUtilShrPtr m_robot_util;
80 
81  }; // class Example
82 
83  } // namespace talos_balance
84  } // namespace sot
85 } // namespace dynamicgraph
86 
87 
88 
89 #endif // #ifndef __sot_talos_balance_example_H__
RobotUtilShrPtr m_robot_util
true if the entity has been successfully initialized
Definition: example.hh:79
#define EXAMPLE_EXPORT
Definition: example.hh:31