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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_TASKUNILATERAL_H__ |
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#define __SOT_TASKUNILATERAL_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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/* STD */ |
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#include <string> |
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/* SOT */ |
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#include <sot/core/exception-task.hh> |
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#include <sot/core/feature-abstract.hh> |
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#include <sot/core/flags.hh> |
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#include <sot/core/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(task_unilateral_EXPORTS) |
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#define SOTTASKUNILATERAL_EXPORT __declspec(dllexport) |
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#else |
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#define SOTTASKUNILATERAL_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTTASKUNILATERAL_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 SOTTASKUNILATERAL_EXPORT TaskUnilateral : public Task { |
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protected: |
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std::list<FeatureAbstract *> featureList; |
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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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public: |
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TaskUnilateral(const std::string &n); |
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/* --- COMPUTATION --- */ |
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VectorMultiBound &computeTaskUnilateral(VectorMultiBound &res, int time); |
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/* --- SIGNALS ------------------------------------------------------------ */ |
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public: |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> referenceInfSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> referenceSupSIN; |
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dynamicgraph::SignalPtr<double, int> dtSIN; |
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/* --- DISPLAY ------------------------------------------------------------ */ |
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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_TASKUNILATERAL_H__ */ |
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