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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_TASK_PD_H__ |
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#define __SOT_TASK_PD_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* SOT */ |
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#include <sot/core/task.hh> |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(task_pd_EXPORTS) |
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#define SOTTASKPD_EXPORT __declspec(dllexport) |
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#else |
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#define SOTTASKPD_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTTASKPD_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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class SOTTASKPD_EXPORT TaskPD : public Task { |
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public: |
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static const std::string CLASS_NAME; |
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virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
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dynamicgraph::Vector previousError; |
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double beta; |
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public: |
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TaskPD(const std::string &n); |
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/* --- COMPUTATION --- */ |
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dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &error, int time); |
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VectorMultiBound &computeTaskModif(VectorMultiBound &error, int time); |
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/* --- SIGNALS ------------------------------------------------------------ */ |
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public: |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> errorDotSOUT; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> errorDotSIN; |
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/* --- PARAMS --- */ |
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void initCommand(void); |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif /* #ifndef __SOT_TASK_PD_H__ */ |