6 #ifndef __sot_torque_control_trace_player_H__
7 #define __sot_torque_control_trace_player_H__
14 #if defined(__sot_torque_control_trace_player_H__)
15 #define SOTTRACEPLAYER_EXPORT __declspec(dllexport)
17 #define SOTTRACEPLAYER_EXPORT __declspec(dllimport)
20 #define SOTTRACEPLAYER_EXPORT
29 #include "boost/assign.hpp"
31 #include <dynamic-graph/signal-helper.h>
32 #include <sot/core/matrix-geometry.hh>
33 #include <sot/core/robot-utils.hh>
55 DYNAMIC_GRAPH_ENTITY_DECL();
61 void init(
const double& dt);
66 DECLARE_SIGNAL_OUT(trigger,
int);
69 void addOutputSignal(
const std::string& fileName,
const std::string& signalName);
75 virtual void display(std::ostream& os)
const;
77 void sendMsg(
const std::string& msg, MsgType t = MSG_TYPE_INFO,
const char* =
"",
int = 0) {
78 logger_.stream(t) << (
"[" + name +
"] " + msg) <<
'\n';
86 std::map<std::string, DataHistoryType>
m_data;
95 #endif // #ifndef __sot_torque_control_trace_reader_H__