sot-talos-balance  1.7.0
ankle-joint-selector.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_ankle_joint_selector_H__
18 #define __sot_talos_balance_ankle_joint_selector_H__
19 
20 /* --------------------------------------------------------------------- */
21 /* --- API ------------------------------------------------------------- */
22 /* --------------------------------------------------------------------- */
23 
24 #if defined (WIN32)
25 # if defined (position_controller_EXPORTS)
26 # define ANKLE_JOINT_SELECTOR_EXPORT __declspec(dllexport)
27 # else
28 # define ANKLE_JOINT_SELECTOR_EXPORT __declspec(dllimport)
29 # endif
30 #else
31 # define ANKLE_JOINT_SELECTOR_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/flags.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  AnkleJointSelector( const std::string & name );
63 
64  void init(const int & n);
65 
66  /* --- SIGNALS --- */
67  DECLARE_SIGNAL_IN(phase, int);
68 
69  DECLARE_SIGNAL_IN(rightRollCoupled, dynamicgraph::Vector);
70  DECLARE_SIGNAL_IN(rightRollDecoupled, dynamicgraph::Vector);
71  DECLARE_SIGNAL_IN(rightPitchCoupled, dynamicgraph::Vector);
72  DECLARE_SIGNAL_IN(rightPitchDecoupled, dynamicgraph::Vector);
73 
74  DECLARE_SIGNAL_IN(leftRollCoupled, dynamicgraph::Vector);
75  DECLARE_SIGNAL_IN(leftRollDecoupled, dynamicgraph::Vector);
76  DECLARE_SIGNAL_IN(leftPitchCoupled, dynamicgraph::Vector);
77  DECLARE_SIGNAL_IN(leftPitchDecoupled, dynamicgraph::Vector);
78 
79  DECLARE_SIGNAL_OUT(selecLeft, Flags);
80  DECLARE_SIGNAL_OUT(selecRight, Flags);
81 
82  DECLARE_SIGNAL_OUT(rightRoll, dynamicgraph::Vector);
83  DECLARE_SIGNAL_OUT(rightPitch, dynamicgraph::Vector);
84 
85  DECLARE_SIGNAL_OUT(leftRoll, dynamicgraph::Vector);
86  DECLARE_SIGNAL_OUT(leftPitch, dynamicgraph::Vector);
87 
88  /* --- COMMANDS --- */
89  /* --- ENTITY INHERITANCE --- */
90  virtual void display( std::ostream& os ) const;
91 
92  protected:
93  Flags m_zeros;
94  Flags m_ones;
95  int m_n;
97 
98  }; // class AnkleJointSelector
99 
100  } // namespace talos_balance
101  } // namespace sot
102 } // namespace dynamicgraph
103 
104 
105 
106 #endif // #ifndef __sot_talos_balance_ankle_joint_selector_H__
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: math/fwd.hh:40
#define ANKLE_JOINT_SELECTOR_EXPORT