21 #ifndef __SOT_PG_MANAGER_H__ 22 #define __SOT_PG_MANAGER_H__ 28 #include <pinocchio/fwd.hpp> 31 #include <Eigen/Dense> 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 62 class PatternGenerator;
67 DYNAMIC_GRAPH_ENTITY_DECL();
78 virtual void display(std::ostream &os)
const;
79 virtual void commandLine(
const std::string &cmdLine,
80 std::istringstream &cmdArgs, std::ostream &os);
83 std::vector<FootPrint> stepbuf_;
85 PatternGeneratorJRL::PatternGeneratorInterface *pgi_;
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
Finds the PG and sends steps to the PG.
Definition: pg-manager.h:65
#define PGManager_EXPORT
Definition: pg-manager.h:51
Definition: exception-pg.h:47