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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_ZMPREFFROMCOM_H__ |
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#define __SOT_ZMPREFFROMCOM_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(zmpreffromcom_EXPORTS) |
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#define SOTZMPREFFROMCOM_EXPORT __declspec(dllexport) |
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#else |
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#define SOTZMPREFFROMCOM_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTZMPREFFROMCOM_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 SOTZMPREFFROMCOM_EXPORT ZmprefFromCom : 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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public: |
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double dt; |
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const static double DT_DEFAULT; // = 5e-3; // 5ms |
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double footHeight; |
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const static double FOOT_HEIGHT_DEFAULT; // = .105; |
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public: /* --- CONSTRUCTION --- */ |
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ZmprefFromCom(const std::string& name); |
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virtual ~ZmprefFromCom(void); |
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public: /* --- SIGNAL --- */ |
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dynamicgraph::Vector& computeZmpref(dynamicgraph::Vector& res, |
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const int& time); |
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dg::SignalPtr<MatrixHomogeneous, int> waistPositionSIN; |
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dg::SignalPtr<dynamicgraph::Vector, int> comPositionSIN; |
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dg::SignalPtr<dynamicgraph::Vector, int> dcomSIN; |
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dg::SignalTimeDependent<dynamicgraph::Vector, int> zmprefSOUT; |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_ZMPREFFROMCOM_H__ |