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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_FEATURE_JOINTLIMITS_HH |
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#define SOT_FEATURE_JOINTLIMITS_HH |
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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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#if defined(WIN32) |
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#if defined(joint_limitator_EXPORTS) |
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#define SOTJOINTLIMITATOR_EXPORT __declspec(dllexport) |
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#else |
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#define SOTJOINTLIMITATOR_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTJOINTLIMITATOR_EXPORT |
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#endif |
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namespace dynamicgraph { |
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namespace sot { |
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/// \brief Filter control vector to avoid exceeding joint maximum values. |
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/// |
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/// This must be plugged between the entity producing the command |
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/// (i.e. usually the sot) and the entity executing it (the device). |
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class SOTJOINTLIMITATOR_EXPORT JointLimitator : public dynamicgraph::Entity { |
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DYNAMIC_GRAPH_ENTITY_DECL(); |
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public: |
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JointLimitator(const std::string &name); |
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virtual ~JointLimitator() {} |
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virtual dynamicgraph::Vector &computeControl(dynamicgraph::Vector &res, |
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int time); |
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dynamicgraph::Vector &computeWidthJl(dynamicgraph::Vector &res, |
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const int &time); |
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virtual void display(std::ostream &os) const; |
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/// \name Signals |
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/// \{ |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> jointSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> upperJlSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> lowerJlSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> controlSIN; |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> controlSOUT; |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> widthJlSINTERN; |
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/// \} |
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}; |
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} // end of namespace sot. |
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} // namespace dynamicgraph |
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#endif //! SOT_FEATURE_JOINTLIMITS_HH |