21 #ifndef __SOT_PG_MANAGER_H__
22 #define __SOT_PG_MANAGER_H__
28 #include <pinocchio/fwd.hpp>
31 #include <Eigen/Dense>
34 #include <dynamic-graph/entity.h>
35 #include <dynamic-graph/signal-ptr.h>
36 #include <dynamic-graph/signal-time-dependent.h>
45 #if defined(pg_manager_EXPORTS)
46 #define PGManager_EXPORT __declspec(dllexport)
48 #define PGManager_EXPORT __declspec(dllimport)
51 #define PGManager_EXPORT
62 class PatternGenerator;
78 virtual void display(std::ostream &os)
const;
80 std::istringstream &cmdArgs, std::ostream &os);
83 std::vector<FootPrint> stepbuf_;
85 PatternGeneratorJRL::PatternGeneratorInterface *pgi_;
Finds the PG and sends steps to the PG.
Definition: pg-manager.h:65
DYNAMIC_GRAPH_ENTITY_DECL()
void stopSequence(const StepQueue &seq)
PGManager(const std::string &name)
void startSequence(const StepQueue &seq)
virtual void commandLine(const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
virtual void display(std::ostream &os) const
void introduceStep(StepQueue &queue)
double changeNextStep(StepQueue &queue)
This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implem...
Definition: pg.h:84
A step queue in the preview window.
Definition: step-queue.h:77
Definition: exception-pg.h:47
#define PGManager_EXPORT
Definition: pg-manager.h:51