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> 35 #include <sot/core/matrix-geometry.hh> 46 #if defined(step_computer_pos_EXPORTS) 47 #define StepComputerFORCE_EXPORT __declspec(dllexport) 49 #define StepComputerFORCE_EXPORT __declspec(dllimport) 52 #define StepComputerFORCE_EXPORT 69 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
75 void changeFirstStep(
StepQueue &queue,
int timeCurr);
76 void nextStep(
StepQueue &queue,
int timeCurr);
84 virtual void display(std::ostream &os)
const;
85 virtual void commandLine(
const std::string &cmdLine,
86 std::istringstream &cmdArgs, std::ostream &os);
89 MatrixHomogeneous rfMref0;
90 MatrixHomogeneous lfMref0;
97 std::ofstream logChanges;
98 std::ofstream logPreview;
104 #endif // #ifndef __SOT_STEPCOMPUTER_H__ #define StepComputerFORCE_EXPORT
Definition: step-computer-pos.h:52
virtual const std::string & getClassName(void) const
Definition: step-computer-pos.h:69
SignalPtr< unsigned, int > contactFootSIN
Definition: step-computer-pos.h:81
static const std::string CLASS_NAME
Definition: step-computer-pos.h:68
Definition: step-checker.h:41
Generates footsteps.
Definition: step-computer.h:53
Definition: step-observer.h:59
SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
Definition: step-computer-pos.h:79
A step queue in the preview window.
Definition: step-queue.h:77
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
Definition: step-computer-pos.h:80
Definition: exception-pg.h:47
Generates footsteps.
Definition: step-computer-pos.h:65