17 #ifndef __sot_talos_balance_dcm_com_controller_H__
18 #define __sot_talos_balance_dcm_com_controller_H__
25 #if defined(dcm_com_controller_EXPORTS)
26 #define DCMCOMCONTROLLER_EXPORT __declspec(dllexport)
28 #define DCMCOMCONTROLLER_EXPORT __declspec(dllimport)
31 #define DCMCOMCONTROLLER_EXPORT
38 #include <dynamic-graph/signal-helper.h>
42 #include "boost/assign.hpp"
46 namespace talos_balance {
53 DYNAMIC_GRAPH_ENTITY_DECL();
56 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
61 void init(
const double&
dt);
63 void resetDcmIntegralError();
82 virtual void display(std::ostream& os)
const;
DECLARE_SIGNAL_OUT(wrenchRef, dynamicgraph::Vector)
DECLARE_SIGNAL_IN(Kp, dynamicgraph::Vector)
DECLARE_SIGNAL_IN(dcmDes, dynamicgraph::Vector)
DECLARE_SIGNAL_IN(dcm, dynamicgraph::Vector)
DECLARE_SIGNAL_IN(comDes, dynamicgraph::Vector)
DECLARE_SIGNAL_IN(mass, double)
DECLARE_SIGNAL_IN(decayFactor, double)
DECLARE_SIGNAL_IN(Ki, dynamicgraph::Vector)
DECLARE_SIGNAL_OUT(ddcomRef, dynamicgraph::Vector)
DECLARE_SIGNAL_OUT(zmpRef, dynamicgraph::Vector)
dynamicgraph::Vector m_dcmIntegralError
true if the entity has been successfully initialized
DECLARE_SIGNAL_IN(ddcomDes, dynamicgraph::Vector)
DECLARE_SIGNAL_IN(omega, double)
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector