6 #ifndef __sot_torque_control_trace_player_H__ 7 #define __sot_torque_control_trace_player_H__ 14 #if defined(__sot_torque_control_trace_player_H__) 15 #define SOTTRACEPLAYER_EXPORT __declspec(dllexport) 17 #define SOTTRACEPLAYER_EXPORT __declspec(dllimport) 20 #define SOTTRACEPLAYER_EXPORT 27 #include <boost/assign.hpp> 29 #include <pinocchio/fwd.hpp> 33 #include <dynamic-graph/signal-helper.h> 35 #include <sot/core/matrix-geometry.hh> 36 #include <sot/core/robot-utils.hh> 58 DYNAMIC_GRAPH_ENTITY_DECL();
64 void init(
const double& dt);
69 DECLARE_SIGNAL_OUT(trigger,
int);
72 void addOutputSignal(
const std::string& fileName,
73 const std::string& signalName);
79 virtual void display(std::ostream& os)
const;
81 void sendMsg(
const std::string& msg, MsgType t = MSG_TYPE_INFO,
82 const char* =
"",
int = 0) {
83 logger_.stream(t) << (
"[" + name +
"] " + msg) <<
'\n';
91 std::map<std::string, DataHistoryType>
m_data;
100 #endif // #ifndef __sot_torque_control_trace_reader_H__ #define SOTTRACEPLAYER_EXPORT
dynamicgraph::Signal< dynamicgraph::Vector, int > OutputSignalType
void sendMsg(const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0)
Entity to play data saved using a Tracer.
std::map< std::string, DataPointerType > m_dataPointers
std::map< std::string, DataHistoryType > m_data
AdmittanceController EntityClassName
dynamicgraph::Vector DataType
DataHistoryType::const_iterator DataPointerType
std::map< std::string, OutputSignalType * > m_outputSignals
std::list< DataType > DataHistoryType