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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_JOINTLIMITS_HH__ |
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#define __SOT_JOINTLIMITS_HH__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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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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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(motion_period_EXPORTS) |
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#define SOTMOTIONPERIOD_EXPORT __declspec(dllexport) |
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#else |
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#define SOTMOTIONPERIOD_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTMOTIONPERIOD_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/*! |
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\class MotionPeriod |
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*/ |
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namespace dynamicgraph { |
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namespace sot { |
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class SOTMOTIONPERIOD_EXPORT MotionPeriod : 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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protected: |
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enum MotionPeriodType { MOTION_CONSTANT, MOTION_SIN, MOTION_COS }; |
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struct sotMotionParam { |
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MotionPeriodType motionType; |
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unsigned int period; |
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unsigned int initPeriod; |
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double amplitude; |
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double initAmplitude; |
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}; |
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unsigned int size; |
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std::vector<sotMotionParam> motionParams; |
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void resize(const unsigned int &size); |
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/* --- SIGNALS ------------------------------------------------------------ */ |
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public: |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> motionSOUT; |
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public: |
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MotionPeriod(const std::string &name); |
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virtual ~MotionPeriod(void) {} |
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dynamicgraph::Vector &computeMotion(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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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_JOINTLIMITS_HH__ |
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/* |
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* Local variables: |
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* c-basic-offset: 2 |
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* End: |
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*/ |