17 #ifndef __sot_talos_balance_simple_zmp_estimator_H__ 18 #define __sot_talos_balance_simple_zmp_estimator_H__ 25 # if defined (simple_zmp_estimator_EXPORTS) 26 # define SIMPLEZMPESTIMATOR_EXPORT __declspec(dllexport) 28 # define SIMPLEZMPESTIMATOR_EXPORT __declspec(dllimport) 31 # define SIMPLEZMPESTIMATOR_EXPORT 39 #include <dynamic-graph/signal-helper.h> 41 #include "boost/assign.hpp" 42 #include <sot/core/matrix-geometry.hh> 43 #include <dynamic-graph/linear-algebra.h> 47 namespace talos_balance {
54 :
public ::dynamicgraph::Entity
56 DYNAMIC_GRAPH_ENTITY_DECL();
59 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
70 DECLARE_SIGNAL_IN(poseLeft, MatrixHomogeneous);
71 DECLARE_SIGNAL_IN(poseRight, MatrixHomogeneous);
76 DECLARE_SIGNAL_OUT(emergencyStop,
bool);
82 virtual void display( std::ostream& os )
const;
98 #endif // #ifndef __sot_talos_balance_simple_zmp_estimator_H__ #define SIMPLEZMPESTIMATOR_EXPORT
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
bool m_emergency_stop_triggered
true if the entity has been successfully initialized