20 #ifndef __SOT_StepComputer_JOYSTICK_H__
21 #define __SOT_StepComputer_JOYSTICK_H__
28 #include <dynamic-graph/entity.h>
29 #include <dynamic-graph/signal-ptr.h>
30 #include <dynamic-graph/signal-time-dependent.h>
34 #include <sot/core/matrix-geometry.hh>
46 #if defined(step_computer_joystick_EXPORTS)
47 #define StepComputerJOYSTICK_EXPORT __declspec(dllexport)
49 #define StepComputerJOYSTICK_EXPORT __declspec(dllimport)
52 #define StepComputerJOYSTICK_EXPORT
69 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
90 virtual void display(std::ostream &os)
const;
92 std::istringstream &cmdArgs, std::ostream &os);
100 std::ofstream logChanges;
101 std::ofstream logPreview;
103 double m_laststep[3];
Definition: step-checker.h:41
Generates footsteps.
Definition: step-computer-joystick.h:66
Vector & getlaststep(Vector &res, int time)
static const std::string CLASS_NAME
Definition: step-computer-joystick.h:68
void changeFirstStep(StepQueue &queue, int timeCurr)
SignalPtr< unsigned, int > contactFootSIN
Getting the support foot.
Definition: step-computer-joystick.h:82
void nextStep(StepQueue &queue, int timeCurr)
SignalTimeDependent< Vector, int > laststepSOUT
Externalize the last step .
Definition: step-computer-joystick.h:84
StepComputerJoystick(const std::string &name)
virtual void display(std::ostream &os) const
virtual const std::string & getClassName(void) const
Definition: step-computer-joystick.h:69
virtual void commandLine(const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
SignalPtr< Vector, int > joystickSIN
Entry of the joystick (x,y,theta)
Definition: step-computer-joystick.h:80
Generates footsteps.
Definition: step-computer.h:52
A step queue in the preview window.
Definition: step-queue.h:77
Definition: exception-pg.h:47
#define StepComputerJOYSTICK_EXPORT
Definition: step-computer-joystick.h:52