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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_SOTINTEGRATORFORCE_H__ |
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#define __SOT_SOTINTEGRATORFORCE_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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/* SOT */ |
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#include <dynamic-graph/entity.h> |
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#include <dynamic-graph/signal-ptr.h> |
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#include <dynamic-graph/signal-time-dependent.h> |
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#include <sot/core/matrix-geometry.hh> |
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/* STD */ |
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#include <string> |
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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(integrator_force_EXPORTS) |
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#define SOTINTEGRATORFORCE_EXPORT __declspec(dllexport) |
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#else |
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#define SOTINTEGRATORFORCE_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTINTEGRATORFORCE_EXPORT |
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#endif |
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namespace dynamicgraph { |
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namespace sot { |
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namespace dg = dynamicgraph; |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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class SOTINTEGRATORFORCE_EXPORT IntegratorForce : public dg::Entity { |
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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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protected: |
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double timeStep; |
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static const double TIME_STEP_DEFAULT; // = 5e-3 |
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public: /* --- CONSTRUCTION --- */ |
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IntegratorForce(const std::string& name); |
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virtual ~IntegratorForce(void); |
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public: /* --- SIGNAL --- */ |
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dg::SignalPtr<dynamicgraph::Vector, int> forceSIN; |
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dg::SignalPtr<dynamicgraph::Matrix, int> massInverseSIN; |
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dg::SignalPtr<dynamicgraph::Matrix, int> frictionSIN; |
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/* Memory of the previous iteration. The sig is fed by the previous |
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* computations. */ |
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dg::SignalPtr<dynamicgraph::Vector, int> velocityPrecSIN; |
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dg::SignalTimeDependent<dynamicgraph::Vector, int> velocityDerivativeSOUT; |
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dg::SignalTimeDependent<dynamicgraph::Vector, int> velocitySOUT; |
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dg::SignalPtr<dynamicgraph::Matrix, int> massSIN; |
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dg::SignalTimeDependent<dynamicgraph::Matrix, int> massInverseSOUT; |
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public: /* --- FUNCTIONS --- */ |
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dynamicgraph::Vector& computeDerivative(dynamicgraph::Vector& res, |
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const int& time); |
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dynamicgraph::Vector& computeIntegral(dynamicgraph::Vector& res, |
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const int& time); |
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dynamicgraph::Matrix& computeMassInverse(dynamicgraph::Matrix& res, |
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const int& time); |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__ |