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20 #ifndef __SOT_StepComputer_JOYSTICK_H__
21 #define __SOT_StepComputer_JOYSTICK_H__
28 #include <dynamic-graph/entity.h>
29 #include <dynamic-graph/signal-ptr.h>
30 #include <dynamic-graph/signal-time-dependent.h>
34 #include <sot/core/matrix-geometry.hh>
46 #if defined(step_computer_joystick_EXPORTS)
47 #define StepComputerJOYSTICK_EXPORT __declspec(dllexport)
49 #define StepComputerJOYSTICK_EXPORT __declspec(dllimport)
52 #define StepComputerJOYSTICK_EXPORT
69 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
75 void changeFirstStep(
StepQueue &queue,
int timeCurr);
76 void nextStep(
StepQueue &queue,
int timeCurr);
87 Vector &getlaststep(Vector &res,
int time);
90 virtual void display(std::ostream &os)
const;
91 virtual void commandLine(
const std::string &cmdLine,
92 std::istringstream &cmdArgs, std::ostream &os);
100 std::ofstream logChanges;
101 std::ofstream logPreview;
103 double m_laststep[3];
109 #endif // #ifndef __SOT_STEPCOMPUTER_H__
static const std::string CLASS_NAME
Definition: step-computer-joystick.h:68
SignalTimeDependent< Vector, int > laststepSOUT
Externalize the last step .
Definition: step-computer-joystick.h:84
Definition: exception-pg.h:47
Generates footsteps.
Definition: step-computer-joystick.h:65
#define StepComputerJOYSTICK_EXPORT
Definition: step-computer-joystick.h:52
virtual const std::string & getClassName(void) const
Definition: step-computer-joystick.h:69
Generates footsteps.
Definition: step-computer.h:52
Definition: step-checker.h:41
A step queue in the preview window.
Definition: step-queue.h:77
SignalPtr< Vector, int > joystickSIN
Entry of the joystick (x,y,theta)
Definition: step-computer-joystick.h:80
SignalPtr< unsigned, int > contactFootSIN
Getting the support foot.
Definition: step-computer-joystick.h:82