20 #ifndef __SOT_StepComputer_FORCE_H__ 21 #define __SOT_StepComputer_FORCE_H__ 28 #include <dynamic-graph/entity.h> 29 #include <dynamic-graph/signal-ptr.h> 30 #include <dynamic-graph/signal-time-dependent.h> 34 #include <sot/core/matrix-geometry.hh> 45 #if defined(step_computer_force_EXPORTS) 46 #define StepComputerFORCE_EXPORT __declspec(dllexport) 48 #define StepComputerFORCE_EXPORT __declspec(dllimport) 51 #define StepComputerFORCE_EXPORT 68 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
74 void changeFirstStep(
StepQueue &queue,
int timeCurr);
75 void nextStep(
StepQueue &queue,
int timeCurr);
90 Vector &computeDisplacement(Vector &res,
int timeCurr);
91 Vector &computeForce(Vector &res,
int timeCurr);
92 Vector &computeForceL(Vector &res,
int timeCurr);
93 Vector &computeForceR(Vector &res,
int timeCurr);
94 Vector &computeHandForce(Vector &res,
const MatrixHomogeneous &waMh,
95 const MatrixHomogeneous &waMref,
const Vector &F);
98 virtual void display(std::ostream &os)
const;
99 virtual void commandLine(
const std::string &cmdLine,
100 std::istringstream &cmdArgs, std::ostream &os);
103 MatrixHomogeneous waMref0;
110 std::ofstream logChanges;
111 std::ofstream logPreview;
117 #endif // #ifndef __SOT_STEPCOMPUTER_H__ virtual const std::string & getClassName(void) const
Definition: step-computer-force.h:68
Generates footsteps.
Definition: step-computer-force.h:64
#define StepComputerFORCE_EXPORT
Definition: step-computer-force.h:51
SignalPtr< unsigned, int > contactFootSIN
Definition: step-computer-force.h:83
Definition: step-checker.h:41
SignalTimeDependent< Vector, int > forceLhandSOUT
Definition: step-computer-force.h:87
SignalTimeDependent< Vector, int > forceRhandSOUT
Definition: step-computer-force.h:88
Generates footsteps.
Definition: step-computer.h:52
static const std::string CLASS_NAME
Definition: step-computer-force.h:67
Definition: step-observer.h:58
SignalPtr< MatrixHomogeneous, int > waistMlhandSIN
Definition: step-computer-force.h:78
SignalTimeDependent< Vector, int > forceSOUT
Definition: step-computer-force.h:86
SignalPtr< Vector, int > velocitySIN
Definition: step-computer-force.h:82
A step queue in the preview window.
Definition: step-queue.h:77
SignalTimeDependent< Vector, int > displacementSOUT
Definition: step-computer-force.h:85
SignalPtr< MatrixHomogeneous, int > waistMrhandSIN
Definition: step-computer-force.h:79
SignalPtr< Vector, int > stiffnessSIN
Definition: step-computer-force.h:81
SignalPtr< MatrixHomogeneous, int > referencePositionWaistSIN
Definition: step-computer-force.h:80
Definition: exception-pg.h:47