17 #ifndef __sot_talos_balance_simple_distribute_wrench_H__ 18 #define __sot_talos_balance_simple_distribute_wrench_H__ 25 # if defined (position_controller_EXPORTS) 26 # define SIMPLE_DISTRIBUTE_WRENCH_EXPORT __declspec(dllexport) 28 # define SIMPLE_DISTRIBUTE_WRENCH_EXPORT __declspec(dllimport) 31 # define SIMPLE_DISTRIBUTE_WRENCH_EXPORT 39 #include <dynamic-graph/signal-helper.h> 42 #include "boost/assign.hpp" 43 #include <sot/core/robot-utils.hh> 45 #include <pinocchio/multibody/model.hpp> 46 #include <pinocchio/multibody/data.hpp> 50 namespace talos_balance {
57 :
public ::dynamicgraph::Entity
59 DYNAMIC_GRAPH_ENTITY_DECL();
62 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
67 void init(
const std::string& robotName);
72 DECLARE_SIGNAL_IN(rho,
double);
74 DECLARE_SIGNAL_INNER(kinematics_computations,
int);
75 DECLARE_SIGNAL_INNER(wrenches,
int);
87 virtual void display( std::ostream& os )
const;
107 #endif // #ifndef __sot_talos_balance_simple_distribute_wrench_H__ pinocchio::Model m_model
true if the entity has been successfully initialized
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
pinocchio::Data m_data
Pinocchio robot model.
dynamicgraph::Vector m_wrenchLeft
dynamicgraph::Vector m_wrenchRight
RobotUtilShrPtr m_robot_util
Pinocchio robot data.
#define SIMPLE_DISTRIBUTE_WRENCH_EXPORT