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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_WAISTATTITUDEFROMSENSOR_H__ |
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#define __SOT_WAISTATTITUDEFROMSENSOR_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(waist_attitude_from_sensor_EXPORTS) |
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#define SOTWAISTATTITUDEFROMSENSOR_EXPORT __declspec(dllexport) |
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#else |
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#define SOTWAISTATTITUDEFROMSENSOR_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTWAISTATTITUDEFROMSENSOR_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 SOTWAISTATTITUDEFROMSENSOR_EXPORT WaistAttitudeFromSensor |
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: 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: /* --- CONSTRUCTION --- */ |
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WaistAttitudeFromSensor(const std::string& name); |
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virtual ~WaistAttitudeFromSensor(void); |
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public: /* --- SIGNAL --- */ |
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VectorRollPitchYaw& computeAttitudeWaist(VectorRollPitchYaw& res, |
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const int& time); |
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dg::SignalPtr<MatrixRotation, int> attitudeSensorSIN; |
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dg::SignalPtr<MatrixHomogeneous, int> positionSensorSIN; |
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dg::SignalTimeDependent<VectorRollPitchYaw, int> attitudeWaistSOUT; |
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}; |
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class SOTWAISTATTITUDEFROMSENSOR_EXPORT WaistPoseFromSensorAndContact |
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: public WaistAttitudeFromSensor { |
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public: |
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static const std::string CLASS_NAME; |
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protected: |
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void fromSensor(const bool& inFromSensor) { fromSensor_ = inFromSensor; } |
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bool fromSensor() const { return fromSensor_; } |
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private: |
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bool fromSensor_; |
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public: /* --- CONSTRUCTION --- */ |
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WaistPoseFromSensorAndContact(const std::string& name); |
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virtual ~WaistPoseFromSensorAndContact(void); |
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public: /* --- SIGNAL --- */ |
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dynamicgraph::Vector& computePositionWaist(dynamicgraph::Vector& res, |
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const int& time); |
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dg::SignalPtr<MatrixHomogeneous, int> positionContactSIN; |
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dg::SignalTimeDependent<dynamicgraph::Vector, int> positionWaistSOUT; |
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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__ |
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