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zmpreffromcom.h
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1/*
2 * Copyright 2010,
3 * François Bleibel,
4 * Olivier Stasse,
5 *
6 * CNRS/AIST
7 *
8 */
9
10#ifndef __SOT_ZMPREFFROMCOM_H__
11#define __SOT_ZMPREFFROMCOM_H__
12
13/* --------------------------------------------------------------------- */
14/* --- INCLUDE --------------------------------------------------------- */
15/* --------------------------------------------------------------------- */
16
17/* Matrix */
18#include <dynamic-graph/linear-algebra.h>
19
20/* SOT */
21#include <dynamic-graph/entity.h>
22#include <dynamic-graph/signal-ptr.h>
23#include <dynamic-graph/signal-time-dependent.h>
24
25#include <sot/core/matrix-geometry.hh>
26
27/* STD */
28#include <string>
29
30/* --------------------------------------------------------------------- */
31/* --- API ------------------------------------------------------------- */
32/* --------------------------------------------------------------------- */
33
34#if defined(WIN32)
35#if defined(zmpreffromcom_EXPORTS)
36#define SOTZMPREFFROMCOM_EXPORT __declspec(dllexport)
37#else
38#define SOTZMPREFFROMCOM_EXPORT __declspec(dllimport)
39#endif
40#else
41#define SOTZMPREFFROMCOM_EXPORT
42#endif
43
44namespace dynamicgraph {
45namespace sot {
46namespace dg = dynamicgraph;
47
48/* --------------------------------------------------------------------- */
49/* --- CLASS ----------------------------------------------------------- */
50/* --------------------------------------------------------------------- */
51
52class SOTZMPREFFROMCOM_EXPORT ZmprefFromCom : public dg::Entity {
53 public:
54 static const std::string CLASS_NAME;
55 virtual const std::string& getClassName(void) const { return CLASS_NAME; }
56
57 public:
58 double dt;
59 const static double DT_DEFAULT; // = 5e-3; // 5ms
60 double footHeight;
61 const static double FOOT_HEIGHT_DEFAULT; // = .105;
62
63 public: /* --- CONSTRUCTION --- */
64 ZmprefFromCom(const std::string& name);
65 virtual ~ZmprefFromCom(void);
66
67 public: /* --- SIGNAL --- */
68 dynamicgraph::Vector& computeZmpref(dynamicgraph::Vector& res,
69 const int& time);
70
71 dg::SignalPtr<MatrixHomogeneous, int> waistPositionSIN;
72 dg::SignalPtr<dynamicgraph::Vector, int> comPositionSIN;
73 dg::SignalPtr<dynamicgraph::Vector, int> dcomSIN;
74 dg::SignalTimeDependent<dynamicgraph::Vector, int> zmprefSOUT;
75};
76
77} /* namespace sot */
78} /* namespace dynamicgraph */
79
80#endif // #ifndef __SOT_ZMPREFFROMCOM_H__
Definition zmpreffromcom.h:52
virtual const std::string & getClassName(void) const
Definition zmpreffromcom.h:55
dg::SignalPtr< dynamicgraph::Vector, int > dcomSIN
Definition zmpreffromcom.h:73
dynamicgraph::Vector & computeZmpref(dynamicgraph::Vector &res, const int &time)
dg::SignalTimeDependent< dynamicgraph::Vector, int > zmprefSOUT
Definition zmpreffromcom.h:74
static const std::string CLASS_NAME
Definition zmpreffromcom.h:54
static const double DT_DEFAULT
Definition zmpreffromcom.h:59
dg::SignalPtr< dynamicgraph::Vector, int > comPositionSIN
Definition zmpreffromcom.h:72
double dt
Definition zmpreffromcom.h:58
ZmprefFromCom(const std::string &name)
double footHeight
Definition zmpreffromcom.h:60
dg::SignalPtr< MatrixHomogeneous, int > waistPositionSIN
Definition zmpreffromcom.h:71
static const double FOOT_HEIGHT_DEFAULT
Definition zmpreffromcom.h:61
Definition angle-estimator.h:43
#define SOTZMPREFFROMCOM_EXPORT
Definition zmpreffromcom.h:41