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step-computer.h
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1/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2 * Copyright Projet JRL-Japan, 2007
3 *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
4 *
5 * File: StepComputer.h
6 * Project: SOT
7 * Author: Paul Evrard, Nicolas Mansard
8 *
9 * Version control
10 * ===============
11 *
12 * $Id$
13 *
14 * Description
15 * ============
16 *
17 *
18 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
19
20#ifndef __SOT_StepComputer_H__
21#define __SOT_StepComputer_H__
22
23/* --------------------------------------------------------------------- */
24/* --- INCLUDE --------------------------------------------------------- */
25/* --------------------------------------------------------------------- */
26
27/* Matrix */
28
29/* SOT */
30#include <dynamic-graph/entity.h>
31#include <dynamic-graph/signal-ptr.h>
32#include <dynamic-graph/signal-time-dependent.h>
35#include <sot/core/matrix-geometry.hh>
36
37/* STD */
38#include <deque>
39#include <fstream>
40#include <string>
41
42namespace dynamicgraph {
43namespace sot {
44
45/* --------------------------------------------------------------------- */
46/* --- CLASS ----------------------------------------------------------- */
47/* --------------------------------------------------------------------- */
48
49class StepQueue;
50
53 public: // Methods
54 virtual void changeFirstStep(StepQueue &queue, int timeCurr) = 0;
55 virtual void nextStep(StepQueue &queue, int timeCurr) = 0;
56 virtual ~StepComputer(){};
57};
58
59} // namespace sot
60} // namespace dynamicgraph
61
62#endif // #ifndef __SOT_STEPCOMPUTER_H__
Generates footsteps.
Definition: step-computer.h:52
virtual void changeFirstStep(StepQueue &queue, int timeCurr)=0
virtual void nextStep(StepQueue &queue, int timeCurr)=0
virtual ~StepComputer()
Definition: step-computer.h:56
A step queue in the preview window.
Definition: step-queue.h:77
Definition: exception-pg.h:47