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> 32 #include <sot/core/matrix-geometry.hh> 42 #if defined(which_foot_upper_EXPORTS) 43 #define WhichFootUpper_EXPORT __declspec(dllexport) 45 #define WhichFootUpper_EXPORT __declspec(dllimport) 48 #define WhichFootUpper_EXPORT 60 DYNAMIC_GRAPH_ENTITY_DECL();
90 static MatrixHomogeneous &computeFootPosition(
91 const MatrixHomogeneous &waistMfoot,
const MatrixRotation &waistRsensor,
92 const MatrixRotation &worldRsensor, MatrixHomogeneous &res);
94 MatrixRotation &computeRotationMatrix(MatrixRotation &rotMat,
int time);
96 unsigned int &whichFoot(
const MatrixHomogeneous &waistMlfoot,
97 const MatrixHomogeneous &waistMrfoot,
101 virtual void commandLine(
const std::string &cmdLine,
102 std::istringstream &cmdArgs, std::ostream &os);
108 #endif // #ifndef __SOT_WhichFootUpper_H__
Definition: exception-pg.h:47