sot-talos-balance  1.5.0
state-transformation.hh
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1 /*
2  * Copyright 2018, Gepetto team, LAAS-CNRS
3  *
4  * This file is part of sot-talos-balance.
5  * sot-talos-balance is free software: you can redistribute it and/or
6  * modify it under the terms of the GNU Lesser General Public License
7  * as published by the Free Software Foundation, either version 3 of
8  * the License, or (at your option) any later version.
9  * sot-talos-balance is distributed in the hope that it will be
10  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU Lesser General Public License for more details. You should
13  * have received a copy of the GNU Lesser General Public License along
14  * with sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
15  */
16 
17 #ifndef __sot_talos_balance_state_transformation_H__
18 #define __sot_talos_balance_state_transformation_H__
19 
20 /* --------------------------------------------------------------------- */
21 /* --- API ------------------------------------------------------------- */
22 /* --------------------------------------------------------------------- */
23 
24 #if defined (WIN32)
25 # if defined (state_transformation_EXPORTS)
26 # define STATETRANSFORMATION_EXPORT __declspec(dllexport)
27 # else
28 # define STATETRANSFORMATION_EXPORT __declspec(dllimport)
29 # endif
30 #else
31 # define STATETRANSFORMATION_EXPORT
32 #endif
33 
34 
35 /* --------------------------------------------------------------------- */
36 /* --- INCLUDE --------------------------------------------------------- */
37 /* --------------------------------------------------------------------- */
38 
39 #include <dynamic-graph/signal-helper.h>
40 #include <map>
41 #include "boost/assign.hpp"
42 
43 #include <sot/core/robot-utils.hh>
44 #include <sot/core/matrix-geometry.hh>
45 #include <dynamic-graph/linear-algebra.h>
46 
47 namespace dynamicgraph {
48  namespace sot {
49  namespace talos_balance {
50 
51  /* --------------------------------------------------------------------- */
52  /* --- CLASS ----------------------------------------------------------- */
53  /* --------------------------------------------------------------------- */
54 
56  : public ::dynamicgraph::Entity
57  {
58  DYNAMIC_GRAPH_ENTITY_DECL();
59 
60  public:
61  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
62 
63  /* --- CONSTRUCTOR ---- */
64  StateTransformation( const std::string & name );
65 
66  void init();
67 
68  /* --- SIGNALS --- */
69  DECLARE_SIGNAL_IN(referenceFrame, MatrixHomogeneous);
70  DECLARE_SIGNAL_IN(q_in, dynamicgraph::Vector);
71  DECLARE_SIGNAL_IN(v_in, dynamicgraph::Vector);
72 
73  DECLARE_SIGNAL_OUT(q, dynamicgraph::Vector);
74  DECLARE_SIGNAL_OUT(v, dynamicgraph::Vector);
75 
76  /* --- COMMANDS --- */
77  /* --- ENTITY INHERITANCE --- */
78  virtual void display( std::ostream& os ) const;
79 
80  protected:
82 
83  }; // class StateTransformation
84 
85  } // namespace talos_balance
86  } // namespace sot
87 } // namespace dynamicgraph
88 
89 
90 
91 #endif // #ifndef __sot_talos_balance_state_transformation_H__
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: math/fwd.hh:40
#define STATETRANSFORMATION_EXPORT