1 |
|
|
/* |
2 |
|
|
* Copyright 2010, |
3 |
|
|
* François Bleibel, |
4 |
|
|
* Olivier Stasse, |
5 |
|
|
* |
6 |
|
|
* CNRS/AIST |
7 |
|
|
* |
8 |
|
|
*/ |
9 |
|
|
|
10 |
|
|
#ifndef __SOT_SOTCOMFREEZER_H_H |
11 |
|
|
#define __SOT_SOTCOMFREEZER_H_H |
12 |
|
|
|
13 |
|
|
/* --------------------------------------------------------------------- */ |
14 |
|
|
/* --- INCLUDE --------------------------------------------------------- */ |
15 |
|
|
/* --------------------------------------------------------------------- */ |
16 |
|
|
|
17 |
|
|
/* Matrix */ |
18 |
|
|
#include <dynamic-graph/linear-algebra.h> |
19 |
|
|
|
20 |
|
|
/* SOT */ |
21 |
|
|
#include <dynamic-graph/all-signals.h> |
22 |
|
|
#include <dynamic-graph/entity.h> |
23 |
|
|
|
24 |
|
|
/* --------------------------------------------------------------------- */ |
25 |
|
|
/* --- API ------------------------------------------------------------- */ |
26 |
|
|
/* --------------------------------------------------------------------- */ |
27 |
|
|
|
28 |
|
|
#if defined(WIN32) |
29 |
|
|
#if defined(com_freezer_EXPORTS) |
30 |
|
|
#define SOTCOMFREEZER_EXPORT __declspec(dllexport) |
31 |
|
|
#else |
32 |
|
|
#define SOTCOMFREEZER_EXPORT __declspec(dllimport) |
33 |
|
|
#endif |
34 |
|
|
#else |
35 |
|
|
#define SOTCOMFREEZER_EXPORT |
36 |
|
|
#endif |
37 |
|
|
|
38 |
|
|
namespace dynamicgraph { |
39 |
|
|
namespace sot { |
40 |
|
|
|
41 |
|
|
/* --------------------------------------------------------------------- */ |
42 |
|
|
/* --- CLASS ----------------------------------------------------------- */ |
43 |
|
|
/* --------------------------------------------------------------------- */ |
44 |
|
|
|
45 |
|
|
class SOTCOMFREEZER_EXPORT CoMFreezer : public dynamicgraph::Entity { |
46 |
|
|
public: |
47 |
|
|
static const std::string CLASS_NAME; |
48 |
|
|
virtual const std::string &getClassName() const { return CLASS_NAME; } |
49 |
|
|
|
50 |
|
|
private: |
51 |
|
|
dynamicgraph::Vector m_lastCoM; |
52 |
|
|
bool m_previousPGInProcess; |
53 |
|
|
int m_lastStopTime; |
54 |
|
|
|
55 |
|
|
public: /* --- CONSTRUCTION --- */ |
56 |
|
|
CoMFreezer(const std::string &name); |
57 |
|
|
virtual ~CoMFreezer(void); |
58 |
|
|
|
59 |
|
|
public: /* --- SIGNAL --- */ |
60 |
|
|
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> CoMRefSIN; |
61 |
|
|
dynamicgraph::SignalPtr<unsigned, int> PGInProcessSIN; |
62 |
|
|
dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> freezedCoMSOUT; |
63 |
|
|
|
64 |
|
|
public: /* --- FUNCTION --- */ |
65 |
|
|
dynamicgraph::Vector &computeFreezedCoM(dynamicgraph::Vector &freezedCoM, |
66 |
|
|
const int &time); |
67 |
|
|
|
68 |
|
|
public: /* --- PARAMS --- */ |
69 |
|
|
virtual void display(std::ostream &os) const; |
70 |
|
|
}; |
71 |
|
|
|
72 |
|
|
} /* namespace sot */ |
73 |
|
|
} /* namespace dynamicgraph */ |
74 |
|
|
|
75 |
|
|
#endif /* #ifndef __SOT_SOTCOMFREEZER_H_H */ |