17 #ifndef __sot_talos_balance_simple_reference_frame_H__ 18 #define __sot_talos_balance_simple_reference_frame_H__ 25 # if defined (simple_reference_frame_EXPORTS) 26 # define SIMPLEREFERENCEFRAME_EXPORT __declspec(dllexport) 28 # define SIMPLEREFERENCEFRAME_EXPORT __declspec(dllimport) 31 # define SIMPLEREFERENCEFRAME_EXPORT 39 #include <dynamic-graph/signal-helper.h> 41 #include "boost/assign.hpp" 43 #include <sot/core/robot-utils.hh> 44 #include <sot/core/matrix-geometry.hh> 45 #include <dynamic-graph/linear-algebra.h> 49 namespace talos_balance {
56 :
public ::dynamicgraph::Entity
58 DYNAMIC_GRAPH_ENTITY_DECL();
61 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
66 void init(
const std::string& robotName);
69 DECLARE_SIGNAL_IN(footLeft, MatrixHomogeneous);
70 DECLARE_SIGNAL_IN(footRight, MatrixHomogeneous);
71 DECLARE_SIGNAL_IN(reset,
bool);
73 DECLARE_SIGNAL_OUT(referenceFrame, MatrixHomogeneous);
77 virtual void display( std::ostream& os )
const;
94 #endif // #ifndef __sot_talos_balance_simple_reference_frame_H__
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Vector m_rightFootSoleXYZ
#define SIMPLEREFERENCEFRAME_EXPORT
MatrixHomogeneous m_referenceFrame
RobotUtilShrPtr m_robot_util