6 #ifndef __sot_torque_control_free_flyer_locator_H__
7 #define __sot_torque_control_free_flyer_locator_H__
14 #if defined(free_flyer_locator_EXPORTS)
15 #define SOTFREEFLYERLOCATOR_EXPORT __declspec(dllexport)
17 #define SOTFREEFLYERLOCATOR_EXPORT __declspec(dllimport)
20 #define SOTFREEFLYERLOCATOR_EXPORT
27 #include "boost/assign.hpp"
30 #include <pinocchio/multibody/model.hpp>
31 #include <pinocchio/parsers/urdf.hpp>
32 #include <pinocchio/algorithm/kinematics.hpp>
36 #include <dynamic-graph/linear-algebra.h>
38 #include <dynamic-graph/signal-helper.h>
39 #include <sot/core/matrix-geometry.hh>
40 #include <sot/core/robot-utils.hh>
53 DYNAMIC_GRAPH_ENTITY_DECL();
56 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
62 void init(
const std::string& robotRef);
65 DECLARE_SIGNAL_IN(base6d_encoders, dynamicgraph::Vector);
66 DECLARE_SIGNAL_IN(joint_velocities, dynamicgraph::Vector);
67 DECLARE_SIGNAL_INNER(kinematics_computations, dynamicgraph::Vector);
69 DECLARE_SIGNAL_OUT(freeflyer_aa, dynamicgraph::Vector);
71 DECLARE_SIGNAL_OUT(base6dFromFoot_encoders, dynamicgraph::Vector);
73 DECLARE_SIGNAL_OUT(v, dynamicgraph::Vector);
76 void displayRobotUtil();
79 virtual void display(std::ostream& os)
const;
81 void sendMsg(
const std::string& msg, MsgType t = MSG_TYPE_INFO,
const char* =
"",
int = 0) {
82 logger_.stream(t) << (
"[FreeFlyerLocator-" + name +
"] " + msg) <<
'\n';
107 #endif // #ifndef __sot_torque_control_free_flyer_locator_H__