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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_NeckLimitation_H__ |
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#define __SOT_NeckLimitation_H__ |
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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/task-abstract.hh> |
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/* STD */ |
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#include <list> |
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#include <map> |
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#include <string> |
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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(neck_limitation_EXPORTS) |
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#define NeckLimitation_EXPORT __declspec(dllexport) |
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#else |
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#define NeckLimitation_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define NeckLimitation_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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class NeckLimitation_EXPORT NeckLimitation : 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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unsigned int panRank, tiltRank; |
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static const unsigned int PAN_RANK_DEFAULT; |
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static const unsigned int TILT_RANK_DEFAULT; |
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/* The limitation is: sgn.Tilt >= Pan.alpha + beta, with alpha the linear |
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* coefficient and beta the affine one, and sgn is +1 or -1. */ |
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double coeffLinearPan, coeffAffinePan; |
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double signTilt; |
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static const double COEFF_LINEAR_DEFAULT; |
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static const double COEFF_AFFINE_DEFAULT; |
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static const double SIGN_TILT_DEFAULT; |
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public: /* --- CONSTRUCTION --- */ |
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NeckLimitation(const std::string &name); |
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virtual ~NeckLimitation(void); |
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public: /* --- SIGNAL --- */ |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> jointSIN; |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> jointSOUT; |
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public: /* --- FUNCTIONS --- */ |
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dynamicgraph::Vector &computeJointLimitation( |
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dynamicgraph::Vector &jointLimited, const int &timeSpec); |
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public: /* --- PARAMS --- */ |
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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_NeckLimitation_H__ |