| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/* |
| 2 |
|
|
* Copyright 2010, |
| 3 |
|
|
* Nicolas Mansard, Olivier Stasse, François Bleibel, Florent Lamiraux |
| 4 |
|
|
* |
| 5 |
|
|
* CNRS |
| 6 |
|
|
* |
| 7 |
|
|
*/ |
| 8 |
|
|
|
| 9 |
|
|
#ifndef DYNAMICGRAPH_SOT_ROBOT_SIMU_HH |
| 10 |
|
|
#define DYNAMICGRAPH_SOT_ROBOT_SIMU_HH |
| 11 |
|
|
|
| 12 |
|
|
/* --------------------------------------------------------------------- */ |
| 13 |
|
|
/* --- INCLUDE --------------------------------------------------------- */ |
| 14 |
|
|
/* --------------------------------------------------------------------- */ |
| 15 |
|
|
|
| 16 |
|
|
#include <pinocchio/fwd.hpp> |
| 17 |
|
|
|
| 18 |
|
|
/* -- MaaL --- */ |
| 19 |
|
|
#include <dynamic-graph/linear-algebra.h> |
| 20 |
|
|
|
| 21 |
|
|
/* SOT */ |
| 22 |
|
|
#include <dynamic-graph/all-signals.h> |
| 23 |
|
|
#include <dynamic-graph/entity.h> |
| 24 |
|
|
|
| 25 |
|
|
#include "sot/core/api.hh" |
| 26 |
|
|
#include "sot/core/device.hh" |
| 27 |
|
|
|
| 28 |
|
|
/* --------------------------------------------------------------------- */ |
| 29 |
|
|
/* --- API ------------------------------------------------------------- */ |
| 30 |
|
|
/* --------------------------------------------------------------------- */ |
| 31 |
|
|
|
| 32 |
|
|
#if defined(WIN32) |
| 33 |
|
|
#if defined(robot_simu_EXPORTS) |
| 34 |
|
|
#define SOT_ROBOT_SIMU_EXPORT __declspec(dllexport) |
| 35 |
|
|
#else |
| 36 |
|
|
#define SOT_ROBOT_SIMU_EXPORT __declspec(dllimport) |
| 37 |
|
|
#endif |
| 38 |
|
|
#else |
| 39 |
|
|
#define SOT_ROBOT_SIMU_EXPORT |
| 40 |
|
|
#endif |
| 41 |
|
|
|
| 42 |
|
|
namespace dynamicgraph { |
| 43 |
|
|
namespace sot { |
| 44 |
|
|
|
| 45 |
|
|
/* --------------------------------------------------------------------- */ |
| 46 |
|
|
/* --- CLASS ----------------------------------------------------------- */ |
| 47 |
|
|
/* --------------------------------------------------------------------- */ |
| 48 |
|
|
|
| 49 |
|
|
class SOT_ROBOT_SIMU_EXPORT RobotSimu : public Device { |
| 50 |
|
|
public: |
| 51 |
|
|
RobotSimu(const std::string &inName); |
| 52 |
|
|
static const std::string CLASS_NAME; |
| 53 |
|
✗ |
virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
| 54 |
|
|
}; |
| 55 |
|
|
} // namespace sot |
| 56 |
|
|
} // namespace dynamicgraph |
| 57 |
|
|
|
| 58 |
|
|
#endif /* #ifndef DYNAMICGRAPH_SOT_ROBOT_SIMU_HH */ |
| 59 |
|
|
|