GCC Code Coverage Report
Directory: ./ Exec Total Coverage
File: include/sot/dynamic-pinocchio/integrator-force.h Lines: 0 1 0.0 %
Date: 2023-01-28 11:04:48 Branches: 0 0 - %

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/*
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 * Copyright 2010,
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 * Fran├žois 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__