10 #ifndef __SOT_TASKUNILATERAL_H__
11 #define __SOT_TASKUNILATERAL_H__
18 #include <dynamic-graph/linear-algebra.h>
34 #if defined(task_unilateral_EXPORTS)
35 #define SOTTASKUNILATERAL_EXPORT __declspec(dllexport)
37 #define SOTTASKUNILATERAL_EXPORT __declspec(dllimport)
40 #define SOTTASKUNILATERAL_EXPORT
56 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
66 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
positionSIN;
69 dynamicgraph::SignalPtr<double, int>
dtSIN;
Definition: task-unilateral.hh:50
void display(std::ostream &os) const
virtual const std::string & getClassName(void) const
Definition: task-unilateral.hh:56
static const std::string CLASS_NAME
Definition: task-unilateral.hh:55
dynamicgraph::SignalPtr< double, int > dtSIN
Definition: task-unilateral.hh:69
VectorMultiBound & computeTaskUnilateral(VectorMultiBound &res, int time)
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > referenceSupSIN
Definition: task-unilateral.hh:68
std::list< FeatureAbstract * > featureList
Definition: task-unilateral.hh:52
TaskUnilateral(const std::string &n)
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionSIN
Definition: task-unilateral.hh:66
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > referenceInfSIN
Definition: task-unilateral.hh:67
Class that defines the basic elements of a task.
Definition: task.hh:72
std::vector< MultiBound > VectorMultiBound
Definition: multi-bound.hh:71
Definition: abstract-sot-external-interface.hh:17
#define SOTTASKUNILATERAL_EXPORT
Definition: task-unilateral.hh:40