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 
42 namespace dynamicgraph {
43 namespace sot {
44 
45 /* --------------------------------------------------------------------- */
46 /* --- CLASS ----------------------------------------------------------- */
47 /* --------------------------------------------------------------------- */
48 
49 class StepQueue;
50 
52 class StepComputer {
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__
virtual void nextStep(StepQueue &queue, int timeCurr)=0
virtual void changeFirstStep(StepQueue &queue, int timeCurr)=0
virtual ~StepComputer()
Definition: step-computer.h:56
Generates footsteps.
Definition: step-computer.h:52
A step queue in the preview window.
Definition: step-queue.h:77
Definition: exception-pg.h:47