20 #ifndef __SOT_StepComputer_FORCE_H__
21 #define __SOT_StepComputer_FORCE_H__
28 #include <dynamic-graph/entity.h>
29 #include <dynamic-graph/signal-ptr.h>
30 #include <dynamic-graph/signal-time-dependent.h>
35 #include <sot/core/matrix-geometry.hh>
46 #if defined(step_computer_pos_EXPORTS)
47 #define StepComputerFORCE_EXPORT __declspec(dllexport)
49 #define StepComputerFORCE_EXPORT __declspec(dllimport)
52 #define StepComputerFORCE_EXPORT
69 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
84 virtual void display(std::ostream &os)
const;
86 std::istringstream &cmdArgs, std::ostream &os);
89 MatrixHomogeneous rfMref0;
90 MatrixHomogeneous lfMref0;
97 std::ofstream logChanges;
98 std::ofstream logPreview;
Definition: step-checker.h:41
Generates footsteps.
Definition: step-computer-pos.h:66
virtual void commandLine(const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
SignalPtr< unsigned, int > contactFootSIN
Definition: step-computer-pos.h:81
static const std::string CLASS_NAME
Definition: step-computer-pos.h:68
void nextStep(StepQueue &queue, int timeCurr)
void changeFirstStep(StepQueue &queue, int timeCurr)
virtual void display(std::ostream &os) const
virtual const std::string & getClassName(void) const
Definition: step-computer-pos.h:69
SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
Definition: step-computer-pos.h:79
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
Definition: step-computer-pos.h:80
StepComputerPos(const std::string &name)
Generates footsteps.
Definition: step-computer.h:53
Definition: step-observer.h:59
A step queue in the preview window.
Definition: step-queue.h:77
Definition: exception-pg.h:47
#define StepComputerFORCE_EXPORT
Definition: step-computer-pos.h:52