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mass-apparent.h
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1/*
2 * Copyright 2010,
3 * François Bleibel,
4 * Olivier Stasse,
5 *
6 * CNRS/AIST
7 *
8 */
9
10#ifndef __SOT_SOTMASSAPPARENT_H__
11#define __SOT_SOTMASSAPPARENT_H__
12
13/* --------------------------------------------------------------------- */
14/* --- INCLUDE --------------------------------------------------------- */
15/* --------------------------------------------------------------------- */
16
17/* Matrix */
18#include <dynamic-graph/linear-algebra.h>
19
20/* SOT */
21#include <dynamic-graph/entity.h>
22#include <dynamic-graph/signal-ptr.h>
23#include <dynamic-graph/signal-time-dependent.h>
24
25#include <sot/core/matrix-geometry.hh>
26
27/* STD */
28#include <string>
29
30/* --------------------------------------------------------------------- */
31/* --- API ------------------------------------------------------------- */
32/* --------------------------------------------------------------------- */
33
34#if defined(WIN32)
35#if defined(mass_apparent_EXPORTS)
36#define SOTMASSAPPARENT_EXPORT __declspec(dllexport)
37#else
38#define SOTMASSAPPARENT_EXPORT __declspec(dllimport)
39#endif
40#else
41#define SOTMASSAPPARENT_EXPORT
42#endif
43
44namespace dynamicgraph {
45namespace sot {
46namespace dg = dynamicgraph;
47
48/* --------------------------------------------------------------------- */
49/* --- CLASS ----------------------------------------------------------- */
50/* --------------------------------------------------------------------- */
51class SOTMASSAPPARENT_EXPORT MassApparent : public dg::Entity {
52 public:
53 static const std::string CLASS_NAME;
54 virtual const std::string& getClassName(void) const { return CLASS_NAME; }
55
56 public: /* --- CONSTRUCTION --- */
57 MassApparent(const std::string& name);
58 virtual ~MassApparent(void);
59
60 public: /* --- SIGNAL --- */
61 dg::SignalPtr<dynamicgraph::Matrix, int> jacobianSIN;
62 dg::SignalPtr<dynamicgraph::Matrix, int> inertiaInverseSIN;
63 dg::SignalTimeDependent<dynamicgraph::Matrix, int> massInverseSOUT;
64 dg::SignalTimeDependent<dynamicgraph::Matrix, int> massSOUT;
65
66 dg::SignalPtr<dynamicgraph::Matrix, int> inertiaSIN;
67 dg::SignalTimeDependent<dynamicgraph::Matrix, int> inertiaInverseSOUT;
68
69 public: /* --- FUNCTIONS --- */
70 dynamicgraph::Matrix& computeMassInverse(dynamicgraph::Matrix& res,
71 const int& time);
72 dynamicgraph::Matrix& computeMass(dynamicgraph::Matrix& res, const int& time);
73 dynamicgraph::Matrix& computeInertiaInverse(dynamicgraph::Matrix& res,
74 const int& time);
75};
76
77} // namespace sot
78} // namespace dynamicgraph
79
80#endif // #ifndef __SOT_SOTMASSAPPARENT_H__
Definition: mass-apparent.h:51
dg::SignalPtr< dynamicgraph::Matrix, int > inertiaInverseSIN
Definition: mass-apparent.h:62
MassApparent(const std::string &name)
dynamicgraph::Matrix & computeInertiaInverse(dynamicgraph::Matrix &res, const int &time)
dg::SignalPtr< dynamicgraph::Matrix, int > jacobianSIN
Definition: mass-apparent.h:61
virtual const std::string & getClassName(void) const
Definition: mass-apparent.h:54
dynamicgraph::Matrix & computeMassInverse(dynamicgraph::Matrix &res, const int &time)
dynamicgraph::Matrix & computeMass(dynamicgraph::Matrix &res, const int &time)
dg::SignalTimeDependent< dynamicgraph::Matrix, int > inertiaInverseSOUT
Definition: mass-apparent.h:67
dg::SignalTimeDependent< dynamicgraph::Matrix, int > massSOUT
Definition: mass-apparent.h:64
dg::SignalTimeDependent< dynamicgraph::Matrix, int > massInverseSOUT
Definition: mass-apparent.h:63
static const std::string CLASS_NAME
Definition: mass-apparent.h:53
dg::SignalPtr< dynamicgraph::Matrix, int > inertiaSIN
Definition: mass-apparent.h:66
#define SOTMASSAPPARENT_EXPORT
Definition: mass-apparent.h:41
Definition: angle-estimator.h:43