17 #ifndef __sot_talos_balance_simple_controller_6d_H__ 18 #define __sot_talos_balance_simple_controller_6d_H__ 25 # if defined (simple_controller_6d_EXPORTS) 26 # define SIMPLE_CONTROLLER_6D_EXPORT __declspec(dllexport) 28 # define SIMPLE_CONTROLLER_6D_EXPORT __declspec(dllimport) 31 # define SIMPLE_CONTROLLER_6D_EXPORT 39 #include <dynamic-graph/signal-helper.h> 41 #include "boost/assign.hpp" 43 #include <sot/core/matrix-geometry.hh> 44 #include <dynamic-graph/linear-algebra.h> 48 namespace talos_balance {
55 :
public ::dynamicgraph::Entity
57 DYNAMIC_GRAPH_ENTITY_DECL();
60 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
67 template <
typename Derived>
68 Eigen::Matrix3d skew(
const Eigen::MatrixBase<Derived> & v);
73 DECLARE_SIGNAL_IN(x, MatrixHomogeneous);
74 DECLARE_SIGNAL_IN(x_des, MatrixHomogeneous);
80 virtual void display( std::ostream& os )
const;
93 #endif // #ifndef __sot_talos_balance_simple_controller_6d_H__
#define SIMPLE_CONTROLLER_6D_EXPORT
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector