21 #ifndef __SOT_STEP_OBSERVER_H__
22 #define __SOT_STEP_OBSERVER_H__
28 #include <dynamic-graph/entity.h>
29 #include <dynamic-graph/signal-ptr.h>
30 #include <dynamic-graph/signal-time-dependent.h>
31 #include <sot/core/matrix-geometry.hh>
38 #if defined(step_observer_EXPORTS)
39 #define StepObserver_EXPORT __declspec(dllexport)
41 #define StepObserver_EXPORT __declspec(dllimport)
44 #define StepObserver_EXPORT
61 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
84 operator SignalArray<int>();
95 virtual void display(std::ostream &os)
const;
97 std::istringstream &cmdArgs, std::ostream &os);
100 MatrixHomogeneous &computeRefPos(MatrixHomogeneous &res,
int timeCurr,
101 const MatrixHomogeneous &wMref);
Definition: step-observer.h:58
virtual void display(std::ostream &os) const
MatrixHomogeneous & computeReferencePositionLeft(MatrixHomogeneous &res, int timeCurr)
SignalTimeDependent< MatrixHomogeneous, int > referencePositionWaistSOUT
Reference frame in the waist coordinates.
Definition: step-observer.h:78
virtual const std::string & getClassName(void) const
Definition: step-observer.h:61
SignalArray< int > getSignals(void)
SignalTimeDependent< MatrixHomogeneous, int > referencePositionLeftSOUT
Reference frame in left foot coordinates.
Definition: step-observer.h:72
SignalTimeDependent< MatrixHomogeneous, int > referencePositionRightSOUT
Reference frame in right foot coordinates.
Definition: step-observer.h:75
SignalPtr< MatrixHomogeneous, int > rightFootPositionSIN
Definition: step-observer.h:68
SignalPtr< MatrixHomogeneous, int > leftHandPositionSIN
Definition: step-observer.h:64
SignalPtr< MatrixHomogeneous, int > waistPositionSIN
Definition: step-observer.h:69
static const std::string CLASS_NAME
Definition: step-observer.h:60
MatrixHomogeneous & computeReferencePositionWaist(MatrixHomogeneous &res, int timeCurr)
SignalPtr< MatrixHomogeneous, int > rightHandPositionSIN
Definition: step-observer.h:65
virtual void commandLine(const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
MatrixHomogeneous & computeReferencePositionRight(MatrixHomogeneous &res, int timeCurr)
StepObserver(const std::string &name)
SignalPtr< MatrixHomogeneous, int > leftFootPositionSIN
Definition: step-observer.h:67
Definition: exception-pg.h:47
#define StepObserver_EXPORT
Definition: step-observer.h:44