20 #ifndef __SOT_WhichFootUpper_H__
21 #define __SOT_WhichFootUpper_H__
28 #include <dynamic-graph/entity.h>
29 #include <dynamic-graph/signal-ptr.h>
30 #include <dynamic-graph/signal-time-dependent.h>
31 #include <sot/core/matrix-geometry.hh>
41 #if defined(which_foot_upper_EXPORTS)
42 #define WhichFootUpper_EXPORT __declspec(dllexport)
44 #define WhichFootUpper_EXPORT __declspec(dllimport)
47 #define WhichFootUpper_EXPORT
59 DYNAMIC_GRAPH_ENTITY_DECL();
89 static MatrixHomogeneous &computeFootPosition(
90 const MatrixHomogeneous &waistMfoot,
const MatrixRotation &waistRsensor,
91 const MatrixRotation &worldRsensor, MatrixHomogeneous &res);
93 MatrixRotation &computeRotationMatrix(MatrixRotation &rotMat,
int time);
95 unsigned int &whichFoot(
const MatrixHomogeneous &waistMlfoot,
96 const MatrixHomogeneous &waistMrfoot,
100 virtual void commandLine(
const std::string &cmdLine,
101 std::istringstream &cmdArgs, std::ostream &os);
107 #endif // #ifndef __SOT_WhichFootUpper_H__