1 |
|
|
/* |
2 |
|
|
* Copyright 2010, |
3 |
|
|
* François Bleibel, |
4 |
|
|
* Olivier Stasse, |
5 |
|
|
* |
6 |
|
|
* CNRS/AIST |
7 |
|
|
* |
8 |
|
|
*/ |
9 |
|
|
|
10 |
|
|
#ifndef __SOTVECTORTOMATRIX_HH |
11 |
|
|
#define __SOTVECTORTOMATRIX_HH |
12 |
|
|
|
13 |
|
|
#include <dynamic-graph/all-signals.h> |
14 |
|
|
#include <dynamic-graph/entity.h> |
15 |
|
|
|
16 |
|
|
#include <sot/core/matrix-geometry.hh> |
17 |
|
|
|
18 |
|
|
/* Matrix */ |
19 |
|
|
#include <dynamic-graph/linear-algebra.h> |
20 |
|
|
|
21 |
|
|
/* STD */ |
22 |
|
|
#include <vector> |
23 |
|
|
|
24 |
|
|
/* --------------------------------------------------------------------- */ |
25 |
|
|
/* --- API ------------------------------------------------------------- */ |
26 |
|
|
/* --------------------------------------------------------------------- */ |
27 |
|
|
|
28 |
|
|
#if defined(WIN32) |
29 |
|
|
#if defined(vector_to_rotation_EXPORTS) |
30 |
|
|
#define SOTVECTORTOROTATION_EXPORT __declspec(dllexport) |
31 |
|
|
#else |
32 |
|
|
#define SOTVECTORTOROTATION_EXPORT __declspec(dllimport) |
33 |
|
|
#endif |
34 |
|
|
#else |
35 |
|
|
#define SOTVECTORTOROTATION_EXPORT |
36 |
|
|
#endif |
37 |
|
|
|
38 |
|
|
/* --------------------------------------------------------------------- */ |
39 |
|
|
/* --- VECTOR ---------------------------------------------------------- */ |
40 |
|
|
/* --------------------------------------------------------------------- */ |
41 |
|
|
namespace dynamicgraph { |
42 |
|
|
namespace sot { |
43 |
|
|
|
44 |
|
|
class [[deprecated( |
45 |
|
|
"use RPYToMatrix")]] SOTVECTORTOROTATION_EXPORT VectorToRotation |
46 |
|
|
: public dynamicgraph::Entity { |
47 |
|
|
enum sotAxis { AXIS_X, AXIS_Y, AXIS_Z }; |
48 |
|
|
|
49 |
|
|
unsigned int size; |
50 |
|
|
std::vector<sotAxis> axes; |
51 |
|
|
|
52 |
|
|
public: |
53 |
|
|
static const std::string CLASS_NAME; |
54 |
|
|
virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
55 |
|
|
|
56 |
|
|
VectorToRotation(const std::string &name); |
57 |
|
|
|
58 |
|
|
virtual ~VectorToRotation(void) {} |
59 |
|
|
|
60 |
|
|
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> SIN; |
61 |
|
|
dynamicgraph::SignalTimeDependent<MatrixRotation, int> SOUT; |
62 |
|
|
|
63 |
|
|
MatrixRotation &computeRotation(const dynamicgraph::Vector &angles, |
64 |
|
|
MatrixRotation &res); |
65 |
|
|
}; |
66 |
|
|
|
67 |
|
|
} /* namespace sot */ |
68 |
|
|
} /* namespace dynamicgraph */ |
69 |
|
|
|
70 |
|
|
#endif // #ifndef __SOTVECTORTOMATRIX_HH |