next-step-pg-sot.h

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/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 * Copyright Projet JRL-Japan, 2007
 *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * File:      NextStep.h
 * Project:   SOT
 * Author:    Nicolas Mansard
 *
 * Version control
 * ===============
 *
 *  $Id$
 *
 * Description
 * ============
 *
 *
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
 
#ifndef __SOT_NextStep_OHRP_H__
#define __SOT_NextStep_OHRP_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* SOT */
#include <sot/pattern-generator/next-step.h>
#include <sot/pattern-generator/pg.h>
 
/* STD */
#include <deque>
#include <string>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(next_step_pg_sot_EXPORTS)
#define NextStepPGSOT_EXPORT __declspec(dllexport)
#else
#define NextStepPGSOT_EXPORT __declspec(dllimport)
#endif
#else
#define NextStepPGSOT_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
namespace dynamicgraph {
namespace sot {
 
class NextStepPGSOT_EXPORT NextStepPgSot : public NextStep {
 public:
  DYNAMIC_GRAPH_ENTITY_DECL();
  static const unsigned int ADDING_STEP = 0;
  static const unsigned int CHANGING_STEP = 1;
 
 protected:
  typedef std::pair<unsigned int, PatternGeneratorJRL::FootAbsolutePosition>
      FootPrint_t;
  std::vector<FootPrint_t> stepbuf;
 
  Entity *pgEntity;
  unsigned int m_StepModificationMode;
  double m_NextStepTime;
  unsigned int m_NbOfFirstSteps;
 
  pg::PatternGeneratorInterface *m_PGI;
 
  PatternGenerator *m_sPG;
 
 public: /* --- CONSTRUCTION --- */
  NextStepPgSot(const std::string &name);
  virtual ~NextStepPgSot(void) {}
 
 public: /* --- FUNCTIONS --- */
  virtual void starter(const int &timeCurr);
  virtual void stoper(const int &timeCurr);
  virtual void introductionCallBack(const int &timeCurr);
 
 public: /* --- ENTITY INHERITANCE --- */
  virtual void commandLine(const std::string &cmdLine,
                           std::istringstream &cmdArgs, std::ostream &os);
};
 
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __SOT_NextStep_OHRP_H__