20 #ifndef __SOT_WhichFootUpper_H__ 21 #define __SOT_WhichFootUpper_H__ 28 #include <dynamic-graph/entity.h> 29 #include <dynamic-graph/signal-ptr.h> 30 #include <dynamic-graph/signal-time-dependent.h> 31 #include <sot/core/matrix-geometry.hh> 41 #if defined(which_foot_upper_EXPORTS) 42 #define WhichFootUpper_EXPORT __declspec(dllexport) 44 #define WhichFootUpper_EXPORT __declspec(dllimport) 47 #define WhichFootUpper_EXPORT 59 DYNAMIC_GRAPH_ENTITY_DECL();
89 static MatrixHomogeneous &computeFootPosition(
90 const MatrixHomogeneous &waistMfoot,
const MatrixRotation &waistRsensor,
91 const MatrixRotation &worldRsensor, MatrixHomogeneous &res);
93 MatrixRotation &computeRotationMatrix(MatrixRotation &rotMat,
int time);
95 unsigned int &whichFoot(
const MatrixHomogeneous &waistMlfoot,
96 const MatrixHomogeneous &waistMrfoot,
100 virtual void commandLine(
const std::string &cmdLine,
101 std::istringstream &cmdArgs, std::ostream &os);
107 #endif // #ifndef __SOT_WhichFootUpper_H__
Definition: exception-pg.h:47