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>
32#include <sot/core/matrix-geometry.hh>
39#if defined(step_observer_EXPORTS)
40#define StepObserver_EXPORT __declspec(dllexport)
42#define StepObserver_EXPORT __declspec(dllimport)
45#define StepObserver_EXPORT
62 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
85 operator SignalArray<int>();
96 virtual void display(std::ostream &os)
const;
98 std::istringstream &cmdArgs, std::ostream &os);
101 MatrixHomogeneous &computeRefPos(MatrixHomogeneous &res,
int timeCurr,
102 const MatrixHomogeneous &wMref);
Definition step-observer.h:59
virtual void display(std::ostream &os) const
MatrixHomogeneous & computeReferencePositionWaist(MatrixHomogeneous &res, int timeCurr)
SignalTimeDependent< MatrixHomogeneous, int > referencePositionWaistSOUT
Reference frame in the waist coordinates.
Definition step-observer.h:79
SignalTimeDependent< MatrixHomogeneous, int > referencePositionLeftSOUT
Reference frame in left foot coordinates.
Definition step-observer.h:73
SignalTimeDependent< MatrixHomogeneous, int > referencePositionRightSOUT
Reference frame in right foot coordinates.
Definition step-observer.h:76
SignalPtr< MatrixHomogeneous, int > rightFootPositionSIN
Definition step-observer.h:69
MatrixHomogeneous & computeReferencePositionLeft(MatrixHomogeneous &res, int timeCurr)
SignalPtr< MatrixHomogeneous, int > leftHandPositionSIN
Definition step-observer.h:65
SignalPtr< MatrixHomogeneous, int > waistPositionSIN
Definition step-observer.h:70
static const std::string CLASS_NAME
Definition step-observer.h:61
SignalPtr< MatrixHomogeneous, int > rightHandPositionSIN
Definition step-observer.h:66
virtual void commandLine(const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
MatrixHomogeneous & computeReferencePositionRight(MatrixHomogeneous &res, int timeCurr)
StepObserver(const std::string &name)
virtual const std::string & getClassName(void) const
Definition step-observer.h:62
SignalArray< int > getSignals(void)
SignalPtr< MatrixHomogeneous, int > leftFootPositionSIN
Definition step-observer.h:68
Definition exception-pg.h:47
#define StepObserver_EXPORT
Definition step-observer.h:45