task-unilateral.hh
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1 /*
2  * Copyright 2010,
3  * François Bleibel,
4  * Olivier Stasse,
5  *
6  * CNRS/AIST
7  *
8  */
9 
10 #ifndef __SOT_TASKUNILATERAL_H__
11 #define __SOT_TASKUNILATERAL_H__
12 
13 /* --------------------------------------------------------------------- */
14 /* --- INCLUDE --------------------------------------------------------- */
15 /* --------------------------------------------------------------------- */
16 
17 /* Matrix */
18 #include <dynamic-graph/linear-algebra.h>
19 namespace dg = dynamicgraph;
20 
21 /* STD */
22 #include <string>
23 
24 /* SOT */
26 #include <sot/core/flags.hh>
27 #include <sot/core/task.hh>
28 
30 
31 /* --------------------------------------------------------------------- */
32 /* --- API ------------------------------------------------------------- */
33 /* --------------------------------------------------------------------- */
34 
35 #if defined(WIN32)
36 #if defined(task_unilateral_EXPORTS)
37 #define SOTTASKUNILATERAL_EXPORT __declspec(dllexport)
38 #else
39 #define SOTTASKUNILATERAL_EXPORT __declspec(dllimport)
40 #endif
41 #else
42 #define SOTTASKUNILATERAL_EXPORT
43 #endif
44 
45 /* --------------------------------------------------------------------- */
46 /* --- CLASS ----------------------------------------------------------- */
47 /* --------------------------------------------------------------------- */
48 
49 namespace dynamicgraph {
50 namespace sot {
51 namespace dg = dynamicgraph;
52 
54 protected:
55  std::list<FeatureAbstract *> featureList;
56 
57 public:
58  static const std::string CLASS_NAME;
59  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
60 
61 public:
62  TaskUnilateral(const std::string &n);
63 
64  /* --- COMPUTATION --- */
65  VectorMultiBound &computeTaskUnilateral(VectorMultiBound &res, int time);
66 
67  /* --- SIGNALS ------------------------------------------------------------ */
68 public:
69  dg::SignalPtr<dg::Vector, int> positionSIN;
70  dg::SignalPtr<dg::Vector, int> referenceInfSIN;
71  dg::SignalPtr<dg::Vector, int> referenceSupSIN;
72  dg::SignalPtr<double, int> dtSIN;
73 
74  /* --- DISPLAY ------------------------------------------------------------ */
75  void display(std::ostream &os) const;
76 };
77 
78 } /* namespace sot */
79 } /* namespace dynamicgraph */
80 
81 #endif /* #ifndef __SOT_TASKUNILATERAL_H__ */
std::vector< MultiBound > VectorMultiBound
Definition: multi-bound.hh:68
dg::SignalPtr< dg::Vector, int > positionSIN
Definition: task-unilateral.hh:69
virtual const std::string & getClassName(void) const
Definition: task-unilateral.hh:59
dg::SignalPtr< dg::Vector, int > referenceInfSIN
Definition: task-unilateral.hh:70
std::list< FeatureAbstract * > featureList
Definition: task-unilateral.hh:55
static const std::string CLASS_NAME
Definition: task-unilateral.hh:58
#define SOTTASKUNILATERAL_EXPORT
Definition: task-unilateral.hh:42
Definition: task-unilateral.hh:53
Class that defines the basic elements of a task.
Definition: task.hh:75
Definition: abstract-sot-external-interface.hh:17
dg::SignalPtr< double, int > dtSIN
Definition: task-unilateral.hh:72
dg::SignalPtr< dg::Vector, int > referenceSupSIN
Definition: task-unilateral.hh:71