sot-talos-balance  1.6.0
saturation.hh
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1 /*
2  * Copyright 2018, Gepetto team, LAAS-CNRS
3  *
4  * This file is part of sot-talos-balance.
5  * sot-talos-balance is free software: you can redistribute it and/or
6  * modify it under the terms of the GNU Lesser General Public License
7  * as published by the Free Software Foundation, either version 3 of
8  * the License, or (at your option) any later version.
9  * sot-talos-balance is distributed in the hope that it will be
10  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU Lesser General Public License for more details. You should
13  * have received a copy of the GNU Lesser General Public License along
14  * with sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
15  */
16 
17 #ifndef __sot_talos_balance_saturation_H__
18 #define __sot_talos_balance_saturation_H__
19 
20 /* --------------------------------------------------------------------- */
21 /* --- API ------------------------------------------------------------- */
22 /* --------------------------------------------------------------------- */
23 
24 #if defined(WIN32)
25 #if defined(saturation_EXPORTS)
26 #define SATURATION_EXPORT __declspec(dllexport)
27 #else
28 #define SATURATION_EXPORT __declspec(dllimport)
29 #endif
30 #else
31 #define SATURATION_EXPORT
32 #endif
33 
34 /* --------------------------------------------------------------------- */
35 /* --- INCLUDE --------------------------------------------------------- */
36 /* --------------------------------------------------------------------- */
37 
38 #include <dynamic-graph/signal-helper.h>
39 #include <map>
40 #include "boost/assign.hpp"
41 
42 namespace dynamicgraph
43 {
44 namespace sot
45 {
46 namespace talos_balance
47 {
48 
49 /* --------------------------------------------------------------------- */
50 /* --- CLASS ----------------------------------------------------------- */
51 /* --------------------------------------------------------------------- */
52 
54  : public ::dynamicgraph::Entity
55 {
56  DYNAMIC_GRAPH_ENTITY_DECL();
57 
58 public:
59  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
60 
61  /* --- CONSTRUCTOR ---- */
62  Saturation(const std::string &name);
63 
64  /* --- SIGNALS --- */
65  DECLARE_SIGNAL_IN(x, dynamicgraph::Vector);
66  DECLARE_SIGNAL_IN(y, dynamicgraph::Vector);
67  DECLARE_SIGNAL_IN(k, double);
68  DECLARE_SIGNAL_IN(xLim, dynamicgraph::Vector);
69  DECLARE_SIGNAL_IN(yLim, dynamicgraph::Vector);
70 
71  DECLARE_SIGNAL_OUT(yOut, dynamicgraph::Vector);
72 
73  /* --- COMMANDS --- */
74 
75  /* --- ENTITY INHERITANCE --- */
76  virtual void display(std::ostream &os) const;
77 
78 }; // class Saturation
79 
80 } // namespace talos_balance
81 } // namespace sot
82 } // namespace dynamicgraph
83 
84 #endif // #ifndef __sot_talos_balance_saturation_H__
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: math/fwd.hh:40
#define SATURATION_EXPORT
Definition: saturation.hh:31