21 #ifndef __SOT_STEP_OBSERVER_H__ 22 #define __SOT_STEP_OBSERVER_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> 39 #if defined(step_observer_EXPORTS) 40 #define StepObserver_EXPORT __declspec(dllexport) 42 #define StepObserver_EXPORT __declspec(dllimport) 45 #define StepObserver_EXPORT 62 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
84 SignalArray<int> getSignals(
void);
85 operator SignalArray<int>();
88 MatrixHomogeneous &computeReferencePositionLeft(MatrixHomogeneous &res,
90 MatrixHomogeneous &computeReferencePositionRight(MatrixHomogeneous &res,
92 MatrixHomogeneous &computeReferencePositionWaist(MatrixHomogeneous &res,
96 virtual void display(std::ostream &os)
const;
97 virtual void commandLine(
const std::string &cmdLine,
98 std::istringstream &cmdArgs, std::ostream &os);
101 MatrixHomogeneous &computeRefPos(MatrixHomogeneous &res,
int timeCurr,
102 const MatrixHomogeneous &wMref);
SignalPtr< MatrixHomogeneous, int > leftFootPositionSIN
Definition: step-observer.h:68
SignalTimeDependent< MatrixHomogeneous, int > referencePositionLeftSOUT
Reference frame in left foot coordinates.
Definition: step-observer.h:73
SignalPtr< MatrixHomogeneous, int > rightFootPositionSIN
Definition: step-observer.h:69
static const std::string CLASS_NAME
Definition: step-observer.h:61
Definition: step-observer.h:59
SignalPtr< MatrixHomogeneous, int > leftHandPositionSIN
Definition: step-observer.h:65
SignalPtr< MatrixHomogeneous, int > rightHandPositionSIN
Definition: step-observer.h:66
SignalPtr< MatrixHomogeneous, int > waistPositionSIN
Definition: step-observer.h:70
SignalTimeDependent< MatrixHomogeneous, int > referencePositionRightSOUT
Reference frame in right foot coordinates.
Definition: step-observer.h:76
virtual const std::string & getClassName(void) const
Definition: step-observer.h:62
#define StepObserver_EXPORT
Definition: step-observer.h:45
SignalTimeDependent< MatrixHomogeneous, int > referencePositionWaistSOUT
Reference frame in the waist coordinates.
Definition: step-observer.h:79
Definition: exception-pg.h:47