21#ifndef __SOT_PG_MANAGER_H__
22#define __SOT_PG_MANAGER_H__
28#include <pinocchio/fwd.hpp>
34#include <dynamic-graph/entity.h>
35#include <dynamic-graph/signal-ptr.h>
36#include <dynamic-graph/signal-time-dependent.h>
45#if defined(pg_manager_EXPORTS)
46#define PGManager_EXPORT __declspec(dllexport)
48#define PGManager_EXPORT __declspec(dllimport)
51#define PGManager_EXPORT
62class PatternGenerator;
78 virtual void display(std::ostream &os)
const;
80 std::istringstream &cmdArgs, std::ostream &os);
83 std::vector<FootPrint> stepbuf_;
85 PatternGeneratorJRL::PatternGeneratorInterface *pgi_;
Finds the PG and sends steps to the PG.
Definition pg-manager.h:65
DYNAMIC_GRAPH_ENTITY_DECL()
void stopSequence(const StepQueue &seq)
PGManager(const std::string &name)
void startSequence(const StepQueue &seq)
virtual void commandLine(const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
virtual void display(std::ostream &os) const
void introduceStep(StepQueue &queue)
double changeNextStep(StepQueue &queue)
This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implem...
Definition pg.h:84
A step queue in the preview window.
Definition step-queue.h:77
Definition exception-pg.h:47
#define PGManager_EXPORT
Definition pg-manager.h:51