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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 __SOTVECTORTOMATRIX_HH |
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#define __SOTVECTORTOMATRIX_HH |
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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/matrix-geometry.hh> |
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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 <vector> |
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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(vector_to_rotation_EXPORTS) |
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#define SOTVECTORTOROTATION_EXPORT __declspec(dllexport) |
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#else |
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#define SOTVECTORTOROTATION_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTVECTORTOROTATION_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- VECTOR ---------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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class [[deprecated( |
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"use RPYToMatrix")]] SOTVECTORTOROTATION_EXPORT VectorToRotation |
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: public dynamicgraph::Entity { |
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enum sotAxis { AXIS_X, AXIS_Y, AXIS_Z }; |
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unsigned int size; |
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std::vector<sotAxis> axes; |
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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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VectorToRotation(const std::string &name); |
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virtual ~VectorToRotation(void) {} |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> SIN; |
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dynamicgraph::SignalTimeDependent<MatrixRotation, int> SOUT; |
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MatrixRotation &computeRotation(const dynamicgraph::Vector &angles, |
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MatrixRotation &res); |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOTVECTORTOMATRIX_HH |
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