60 DYNAMIC_GRAPH_ENTITY_DECL();
63 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
68 void init(
const double& dt,
const std::string& robotRef);
69 void updateComOffset();
70 void removeRightFootContact(
const double& transitionTime);
71 void removeLeftFootContact(
const double& transitionTime);
72 void addRightFootContact(
const double& transitionTime);
73 void addLeftFootContact(
const double& transitionTime);
74 void addTaskRightHand();
75 void removeTaskRightHand(
const double& transitionTime);
76 void addTaskLeftHand();
77 void removeTaskLeftHand(
const double& transitionTime);
153 dynamicgraph::Vector);
195 virtual void display(std::ostream& os)
const;
197 void sendMsg(
const std::string& msg, MsgType t = MSG_TYPE_INFO,
198 const char* =
"",
int = 0) {
199 logger_.stream(t) << (
"[" + name +
"] " + msg) <<
'\n';
213 LEFT_SUPPORT_TRANSITION = 2,
215 RIGHT_SUPPORT_TRANSITION = 4
222 TASK_RIGHT_HAND_ON = 0,
224 TASK_RIGHT_HAND_OFF = 1
229 TASK_LEFT_HAND_ON = 0,
231 TASK_LEFT_HAND_OFF = 1
248 tsid::InverseDynamicsFormulationAccForce*
m_invDyn;