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10 #ifndef __SOT_CLAMP_WORKSPACE_HH__
11 #define __SOT_CLAMP_WORKSPACE_HH__
17 #include <dynamic-graph/linear-algebra.h>
21 #include <dynamic-graph/all-signals.h>
22 #include <dynamic-graph/entity.h>
31 #if defined(clamp_workspace_EXPORTS)
32 #define SOTCLAMPWORKSPACE_EXPORT __declspec(dllexport)
34 #define SOTCLAMPWORKSPACE_EXPORT __declspec(dllimport)
37 #define SOTCLAMPWORKSPACE_EXPORT
51 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
65 void update(
int time);
67 virtual dg::Matrix &computeOutput(dg::Matrix &res,
int time);
68 virtual dg::Matrix &computeOutputBar(dg::Matrix &res,
int time);
71 virtual void display(std::ostream &)
const;
93 enum { FRAME_POINT, FRAME_REF } frame;
95 std::pair<double, double> bounds[3];
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:74
Definition: abstract-sot-external-interface.hh:17
dg::SignalPtr< MatrixHomogeneous, int > positionrefSIN
Definition: clamp-workspace.hh:55
dg::SignalTimeDependent< dg::Matrix, int > alphabarSOUT
Definition: clamp-workspace.hh:58
Definition: clamp-workspace.hh:48
virtual const std::string & getClassName(void) const
Definition: clamp-workspace.hh:51
static const std::string CLASS_NAME
Definition: clamp-workspace.hh:50
dg::SignalTimeDependent< MatrixHomogeneous, int > handrefSOUT
Definition: clamp-workspace.hh:59
dg::SignalTimeDependent< dg::Matrix, int > alphaSOUT
Definition: clamp-workspace.hh:57
#define SOTCLAMPWORKSPACE_EXPORT
Definition: clamp-workspace.hh:37
Eigen::Matrix< double, 3, 3 > SOT_CORE_EXPORT MatrixRotation
Definition: matrix-geometry.hh:75
dg::SignalPtr< MatrixHomogeneous, int > positionSIN
Definition: clamp-workspace.hh:56
virtual ~ClampWorkspace(void)
Definition: clamp-workspace.hh:63