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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_CLAMP_WORKSPACE_HH__ |
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#define __SOT_CLAMP_WORKSPACE_HH__ |
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/* STL */ |
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#include <utility> |
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/* Matrix */ |
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#include <dynamic-graph/linear-algebra.h> |
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/* SOT */ |
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#include <dynamic-graph/all-signals.h> |
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#include <dynamic-graph/entity.h> |
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#include <sot/core/exception-task.hh> |
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#include <sot/core/matrix-geometry.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(clamp_workspace_EXPORTS) |
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#define SOTCLAMPWORKSPACE_EXPORT __declspec(dllexport) |
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#else |
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#define SOTCLAMPWORKSPACE_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTCLAMPWORKSPACE_EXPORT |
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#endif |
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namespace dynamicgraph { |
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namespace sot { |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace : public dynamicgraph::Entity { |
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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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/* --- SIGNALS ------------------------------------------------------------ */ |
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public: |
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dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionrefSIN; |
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dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN; |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> alphaSOUT; |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> alphabarSOUT; |
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dynamicgraph::SignalTimeDependent<MatrixHomogeneous, int> handrefSOUT; |
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public: |
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ClampWorkspace(const std::string &name); |
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virtual ~ClampWorkspace(void) {} |
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void update(int time); |
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virtual dynamicgraph::Matrix &computeOutput(dynamicgraph::Matrix &res, |
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int time); |
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virtual dynamicgraph::Matrix &computeOutputBar(dynamicgraph::Matrix &res, |
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int time); |
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virtual MatrixHomogeneous &computeRef(MatrixHomogeneous &res, int time); |
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virtual void display(std::ostream &) const; |
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private: |
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int timeUpdate; |
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dynamicgraph::Matrix alpha; |
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dynamicgraph::Matrix alphabar; |
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MatrixHomogeneous prefMp; |
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dynamicgraph::Vector pd; |
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MatrixRotation Rd; |
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MatrixHomogeneous handref; |
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double beta; |
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double scale; |
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double dm_min; |
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double dm_max; |
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double dm_min_yaw; |
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double dm_max_yaw; |
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double theta_min; |
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double theta_max; |
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int mode; |
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enum { FRAME_POINT, FRAME_REF } frame; |
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std::pair<double, double> bounds[3]; |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif |
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