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/* |
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* Copyright 2010, |
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* Nicolas Mansard, Olivier Stasse, François Bleibel, Florent Lamiraux |
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* |
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* CNRS |
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* |
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*/ |
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#ifndef DYNAMICGRAPH_SOT_ROBOT_SIMU_HH |
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#define DYNAMICGRAPH_SOT_ROBOT_SIMU_HH |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#include <pinocchio/fwd.hpp> |
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/* -- MaaL --- */ |
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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/api.hh" |
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#include "sot/core/device.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(robot_simu_EXPORTS) |
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#define SOT_ROBOT_SIMU_EXPORT __declspec(dllexport) |
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#else |
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#define SOT_ROBOT_SIMU_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOT_ROBOT_SIMU_EXPORT |
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#endif |
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namespace dynamicgraph { |
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namespace sot { |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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class SOT_ROBOT_SIMU_EXPORT RobotSimu : public Device { |
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public: |
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RobotSimu(const std::string &inName); |
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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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}; |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif /* #ifndef DYNAMICGRAPH_SOT_ROBOT_SIMU_HH */ |