GCC Code Coverage Report
Directory: ./ Exec Total Coverage
File: include/sot/core/task-unilateral.hh Lines: 0 1 0.0 %
Date: 2023-03-13 12:09:37 Branches: 0 0 - %

Line Branch Exec Source
1
/*
2
 * Copyright 2010,
3
 * François Bleibel,
4
 * Olivier Stasse,
5
 *
6
 * CNRS/AIST
7
 *
8
 */
9
10
#ifndef __SOT_TASKUNILATERAL_H__
11
#define __SOT_TASKUNILATERAL_H__
12
13
/* --------------------------------------------------------------------- */
14
/* --- INCLUDE --------------------------------------------------------- */
15
/* --------------------------------------------------------------------- */
16
17
/* Matrix */
18
#include <dynamic-graph/linear-algebra.h>
19
20
/* STD */
21
#include <string>
22
23
/* SOT */
24
#include <sot/core/exception-task.hh>
25
#include <sot/core/feature-abstract.hh>
26
#include <sot/core/flags.hh>
27
#include <sot/core/task.hh>
28
29
/* --------------------------------------------------------------------- */
30
/* --- API ------------------------------------------------------------- */
31
/* --------------------------------------------------------------------- */
32
33
#if defined(WIN32)
34
#if defined(task_unilateral_EXPORTS)
35
#define SOTTASKUNILATERAL_EXPORT __declspec(dllexport)
36
#else
37
#define SOTTASKUNILATERAL_EXPORT __declspec(dllimport)
38
#endif
39
#else
40
#define SOTTASKUNILATERAL_EXPORT
41
#endif
42
43
/* --------------------------------------------------------------------- */
44
/* --- CLASS ----------------------------------------------------------- */
45
/* --------------------------------------------------------------------- */
46
47
namespace dynamicgraph {
48
namespace sot {
49
50
class SOTTASKUNILATERAL_EXPORT TaskUnilateral : public Task {
51
 protected:
52
  std::list<FeatureAbstract *> featureList;
53
54
 public:
55
  static const std::string CLASS_NAME;
56
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
57
58
 public:
59
  TaskUnilateral(const std::string &n);
60
61
  /* --- COMPUTATION --- */
62
  VectorMultiBound &computeTaskUnilateral(VectorMultiBound &res, int time);
63
64
  /* --- SIGNALS ------------------------------------------------------------ */
65
 public:
66
  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionSIN;
67
  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> referenceInfSIN;
68
  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> referenceSupSIN;
69
  dynamicgraph::SignalPtr<double, int> dtSIN;
70
71
  /* --- DISPLAY ------------------------------------------------------------ */
72
  void display(std::ostream &os) const;
73
};
74
75
} /* namespace sot */
76
} /* namespace dynamicgraph */
77
78
#endif /* #ifndef __SOT_TASKUNILATERAL_H__ */