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20 #ifndef __SOT_StepComputer_FORCE_H__
21 #define __SOT_StepComputer_FORCE_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>
45 #if defined(step_computer_pos_EXPORTS)
46 #define StepComputerFORCE_EXPORT __declspec(dllexport)
48 #define StepComputerFORCE_EXPORT __declspec(dllimport)
51 #define StepComputerFORCE_EXPORT
68 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
74 void changeFirstStep(
StepQueue &queue,
int timeCurr);
75 void nextStep(
StepQueue &queue,
int timeCurr);
83 virtual void display(std::ostream &os)
const;
84 virtual void commandLine(
const std::string &cmdLine,
85 std::istringstream &cmdArgs, std::ostream &os);
88 MatrixHomogeneous rfMref0;
89 MatrixHomogeneous lfMref0;
96 std::ofstream logChanges;
97 std::ofstream logPreview;
103 #endif // #ifndef __SOT_STEPCOMPUTER_H__
Generates footsteps.
Definition: step-computer-pos.h:64
Definition: exception-pg.h:47
SignalPtr< MatrixHomogeneous, int > referencePositionRightSIN
Definition: step-computer-pos.h:79
static const std::string CLASS_NAME
Definition: step-computer-pos.h:67
virtual const std::string & getClassName(void) const
Definition: step-computer-pos.h:68
SignalPtr< unsigned, int > contactFootSIN
Definition: step-computer-pos.h:80
Generates footsteps.
Definition: step-computer.h:52
#define StepComputerFORCE_EXPORT
Definition: step-computer-pos.h:51
Definition: step-checker.h:41
A step queue in the preview window.
Definition: step-queue.h:77
Definition: step-observer.h:58
SignalPtr< MatrixHomogeneous, int > referencePositionLeftSIN
Definition: step-computer-pos.h:78