10 #ifndef __SOT_Control_GR_HH__
11 #define __SOT_Control_GR_HH__
18 #include <dynamic-graph/linear-algebra.h>
21 #include <dynamic-graph/entity.h>
22 #include <dynamic-graph/signal-ptr.h>
23 #include <dynamic-graph/signal-time-dependent.h>
30 #if defined(control_gr_EXPORTS)
31 #define ControlGR_EXPORT __declspec(dllexport)
33 #define ControlGR_EXPORT __declspec(dllimport)
36 #define ControlGR_EXPORT
52 void init(
const double &step);
60 virtual void display(std::ostream &os)
const;
61 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
Definition: control-gr.hh:46
virtual void display(std::ostream &os) const
SignalPtr< dynamicgraph::Vector, int > gravitySIN
Definition: control-gr.hh:72
SignalPtr< dynamicgraph::Vector, int > accelerationSIN
Definition: control-gr.hh:71
virtual const std::string & getClassName(void) const
Definition: control-gr.hh:61
static const std::string CLASS_NAME
Definition: control-gr.hh:59
double _dimension
Definition: control-gr.hh:67
void init(const double &step)
static const double TIME_STEP_DEFAULT
Definition: control-gr.hh:56
SignalPtr< dynamicgraph::Matrix, int > matrixASIN
Definition: control-gr.hh:70
dynamicgraph::Vector & computeControl(dynamicgraph::Vector &tau, int t)
double TimeStep
Definition: control-gr.hh:66
SignalTimeDependent< dynamicgraph::Vector, int > controlSOUT
Definition: control-gr.hh:73
double & setsize(int dimension)
ControlGR(const std::string &name)
#define ControlGR_EXPORT
Definition: control-gr.hh:36
Definition: abstract-sot-external-interface.hh:17