10 #ifndef SOT_CORE_FEATURE_POSTURE_HH 11 #define SOT_CORE_FEATURE_POSTURE_HH 15 #include <dynamic-graph/signal-ptr.h> 16 #include <dynamic-graph/signal-time-dependent.h> 17 #include <dynamic-graph/value.h> 23 #if defined(feature_posture_EXPORTS) 24 #define SOTFEATUREPOSTURE_EXPORT __declspec(dllexport) 26 #define SOTFEATUREPOSTURE_EXPORT __declspec(dllimport) 29 #define SOTFEATUREPOSTURE_EXPORT 34 using command::Command;
50 friend class SelectDof;
52 DYNAMIC_GRAPH_ENTITY_DECL();
55 typedef dynamicgraph::SignalPtr<dg::Vector, int>
signalIn_t;
56 typedef dynamicgraph::SignalTimeDependent<dg::Vector, int>
signalOut_t;
62 virtual unsigned int &getDimension(
unsigned int &res,
int);
63 void selectDof(
unsigned dofId,
bool control);
66 virtual dg::Vector &computeError(dg::Vector &res,
int);
67 virtual dg::Matrix &computeJacobian(dg::Matrix &res,
int);
68 virtual dg::Vector &computeErrorDot(dg::Vector &res,
int time);
76 std::vector<bool> activeDofs_;
77 std::size_t nbActiveDofs_;
82 #endif // SOT_CORE_FEATURE_POSTURE_HH Definition: feature-posture.hh:48
signalOut_t error_
Definition: feature-posture.hh:73
dynamicgraph::SignalPtr< dg::Vector, int > signalIn_t
Definition: feature-posture.hh:55
signalIn_t posture_
Definition: feature-posture.hh:71
signalIn_t state_
Definition: feature-posture.hh:70
signalIn_t postureDot_
Definition: feature-posture.hh:72
#define SOTFEATUREPOSTURE_EXPORT
Definition: feature-posture.hh:29
DECLARE_NO_REFERENCE
Definition: feature-posture.hh:58
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
dynamicgraph::SignalTimeDependent< dg::Vector, int > signalOut_t
Definition: feature-posture.hh:56
Definition: abstract-sot-external-interface.hh:17