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10 #ifndef __SOT_OP_POINT_MODIFIOR_H__
11 #define __SOT_OP_POINT_MODIFIOR_H__
13 #include <dynamic-graph/all-signals.h>
14 #include <dynamic-graph/entity.h>
19 #include <dynamic-graph/linear-algebra.h>
27 #if defined(op_point_modifier_EXPORTS)
28 #define SOTOPPOINTMODIFIER_EXPORT __declspec(dllexport)
30 #define SOTOPPOINTMODIFIER_EXPORT __declspec(dllimport)
33 #define SOTOPPOINTMODIFIER_EXPORT
53 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
66 dg::Matrix &jacobianSOUT_function(dg::Matrix &res,
const int &time);
69 void setTransformation(
const Eigen::Matrix4d &tr);
70 void setTransformationBySignalName(std::istringstream &cmdArgs);
71 const Eigen::Matrix4d &getTransformation(
void);
86 #endif // __SOT_OP_POINT_MODIFIOR_H__
dg::SignalPtr< MatrixHomogeneous, int > positionSIN
Definition: op-point-modifier.hh:57
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:74
dg::SignalTimeDependent< MatrixHomogeneous, int > positionSOUT
Definition: op-point-modifier.hh:60
Compute position and jacobian of a local frame attached to a joint.
Definition: op-point-modifier.hh:50
virtual ~OpPointModifier(void)
Definition: op-point-modifier.hh:64
Definition: abstract-sot-external-interface.hh:17
virtual const std::string & getClassName(void) const
Definition: op-point-modifier.hh:53
dg::SignalPtr< dg::Matrix, int > jacobianSIN
Definition: op-point-modifier.hh:56
static const std::string CLASS_NAME
Definition: op-point-modifier.hh:52
#define SOTOPPOINTMODIFIER_EXPORT
Definition: op-point-modifier.hh:33
dg::SignalTimeDependent< dg::Matrix, int > jacobianSOUT
Definition: op-point-modifier.hh:59