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10 #ifndef __SOT_Control_GR_HH__
11 #define __SOT_Control_GR_HH__
18 #include <dynamic-graph/linear-algebra.h>
22 #include <dynamic-graph/entity.h>
23 #include <dynamic-graph/signal-ptr.h>
24 #include <dynamic-graph/signal-time-dependent.h>
31 #if defined(control_gr_EXPORTS)
32 #define ControlGR_EXPORT __declspec(dllexport)
34 #define ControlGR_EXPORT __declspec(dllimport)
37 #define ControlGR_EXPORT
55 void init(
const double &step);
63 virtual void display(std::ostream &os)
const;
64 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
79 double &setsize(
int dimension);
80 dg::Vector &computeControl(dg::Vector &tau,
int t);
86 #endif // #ifndef __SOT_Control_GR_HH__
double _dimension
Definition: control-gr.hh:70
virtual const std::string & getClassName(void) const
Definition: control-gr.hh:64
Definition: abstract-sot-external-interface.hh:17
Definition: control-gr.hh:49
double TimeStep
Definition: control-gr.hh:69
static const double TIME_STEP_DEFAULT
Definition: control-gr.hh:59
SignalPtr< dg::Matrix, int > matrixASIN
Definition: control-gr.hh:73
static const std::string CLASS_NAME
Definition: control-gr.hh:62
SignalPtr< dg::Vector, int > accelerationSIN
Definition: control-gr.hh:74
SignalTimeDependent< dg::Vector, int > controlSOUT
Definition: control-gr.hh:76
#define ControlGR_EXPORT
Definition: control-gr.hh:37
SignalPtr< dg::Vector, int > gravitySIN
Definition: control-gr.hh:75