| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/* |
| 2 |
|
|
* Copyright 2010, |
| 3 |
|
|
* François Bleibel, |
| 4 |
|
|
* Olivier Stasse, |
| 5 |
|
|
* |
| 6 |
|
|
* CNRS/AIST |
| 7 |
|
|
* |
| 8 |
|
|
*/ |
| 9 |
|
|
|
| 10 |
|
|
#ifndef __SOT_Control_GR_HH__ |
| 11 |
|
|
#define __SOT_Control_GR_HH__ |
| 12 |
|
|
|
| 13 |
|
|
/* --------------------------------------------------------------------- */ |
| 14 |
|
|
/* --- INCLUDE --------------------------------------------------------- */ |
| 15 |
|
|
/* --------------------------------------------------------------------- */ |
| 16 |
|
|
|
| 17 |
|
|
/* Matrix */ |
| 18 |
|
|
#include <dynamic-graph/linear-algebra.h> |
| 19 |
|
|
|
| 20 |
|
|
/* SOT */ |
| 21 |
|
|
#include <dynamic-graph/entity.h> |
| 22 |
|
|
#include <dynamic-graph/signal-ptr.h> |
| 23 |
|
|
#include <dynamic-graph/signal-time-dependent.h> |
| 24 |
|
|
|
| 25 |
|
|
/* --------------------------------------------------------------------- */ |
| 26 |
|
|
/* --- API ------------------------------------------------------------- */ |
| 27 |
|
|
/* --------------------------------------------------------------------- */ |
| 28 |
|
|
|
| 29 |
|
|
#if defined(WIN32) |
| 30 |
|
|
#if defined(control_gr_EXPORTS) |
| 31 |
|
|
#define ControlGR_EXPORT __declspec(dllexport) |
| 32 |
|
|
#else |
| 33 |
|
|
#define ControlGR_EXPORT __declspec(dllimport) |
| 34 |
|
|
#endif |
| 35 |
|
|
#else |
| 36 |
|
|
#define ControlGR_EXPORT |
| 37 |
|
|
#endif |
| 38 |
|
|
|
| 39 |
|
|
namespace dynamicgraph { |
| 40 |
|
|
namespace sot { |
| 41 |
|
|
|
| 42 |
|
|
/* --------------------------------------------------------------------- */ |
| 43 |
|
|
/* --- CLASS ----------------------------------------------------------- */ |
| 44 |
|
|
/* --------------------------------------------------------------------- */ |
| 45 |
|
|
|
| 46 |
|
|
class ControlGR_EXPORT ControlGR : public Entity { |
| 47 |
|
|
public: /* --- CONSTRUCTOR ---- */ |
| 48 |
|
|
ControlGR(const std::string &name); |
| 49 |
|
|
|
| 50 |
|
|
public: /* --- INIT --- */ |
| 51 |
|
|
void init(const double &step); |
| 52 |
|
|
|
| 53 |
|
|
public: /* --- CONSTANTS --- */ |
| 54 |
|
|
/* Default values. */ |
| 55 |
|
|
static const double TIME_STEP_DEFAULT; // = 0.001 |
| 56 |
|
|
|
| 57 |
|
|
public: /* --- ENTITY INHERITANCE --- */ |
| 58 |
|
|
static const std::string CLASS_NAME; |
| 59 |
|
|
virtual void display(std::ostream &os) const; |
| 60 |
|
✗ |
virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
| 61 |
|
|
|
| 62 |
|
|
protected: |
| 63 |
|
|
/* Parameters of the torque-control function: |
| 64 |
|
|
* tau = - A*qddot = g */ |
| 65 |
|
|
double TimeStep; |
| 66 |
|
|
double _dimension; |
| 67 |
|
|
|
| 68 |
|
|
public: /* --- SIGNALS --- */ |
| 69 |
|
|
SignalPtr<dynamicgraph::Matrix, int> matrixASIN; |
| 70 |
|
|
SignalPtr<dynamicgraph::Vector, int> accelerationSIN; |
| 71 |
|
|
SignalPtr<dynamicgraph::Vector, int> gravitySIN; |
| 72 |
|
|
SignalTimeDependent<dynamicgraph::Vector, int> controlSOUT; |
| 73 |
|
|
|
| 74 |
|
|
protected: |
| 75 |
|
|
double &setsize(int dimension); |
| 76 |
|
|
dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, int t); |
| 77 |
|
|
}; |
| 78 |
|
|
|
| 79 |
|
|
} // namespace sot |
| 80 |
|
|
} // namespace dynamicgraph |
| 81 |
|
|
|
| 82 |
|
|
#endif // #ifndef __SOT_Control_GR_HH__ |
| 83 |
|
|
|