17 #ifndef __sot_talos_balance_dcm_controller_H__ 18 #define __sot_talos_balance_dcm_controller_H__ 25 # if defined (dcm_controller_EXPORTS) 26 # define DCMCONTROLLER_EXPORT __declspec(dllexport) 28 # define DCMCONTROLLER_EXPORT __declspec(dllimport) 31 # define DCMCONTROLLER_EXPORT 39 #include <dynamic-graph/signal-helper.h> 41 #include "boost/assign.hpp" 45 namespace talos_balance {
52 :
public ::dynamicgraph::Entity
54 DYNAMIC_GRAPH_ENTITY_DECL();
57 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
62 void init(
const double & dt);
64 void resetDcmIntegralError();
69 DECLARE_SIGNAL_IN(decayFactor,
double);
70 DECLARE_SIGNAL_IN(omega,
double);
71 DECLARE_SIGNAL_IN(mass,
double);
82 virtual void display( std::ostream& os )
const;
97 #endif // #ifndef __sot_talos_balance_dcm_controller_H__ Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
dynamicgraph::Vector m_dcmIntegralError
true if the entity has been successfully initialized
#define DCMCONTROLLER_EXPORT