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/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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* Copyright Projet JRL-Japan, 2007 |
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*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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* |
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* File: StepComputer.h |
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* Project: SOT |
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* Author: Paul Evrard, Nicolas Mansard |
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* |
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* Version control |
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* =============== |
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* |
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* $Id$ |
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* |
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* Description |
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* ============ |
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* |
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* |
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* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ |
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#ifndef __SOT_StepComputer_FORCE_H__ |
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#define __SOT_StepComputer_FORCE_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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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/pattern-generator/step-checker.h> |
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#include <sot/pattern-generator/step-computer.h> |
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#include <sot/pattern-generator/step-observer.h> |
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#include <sot/core/matrix-geometry.hh> |
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/* STD */ |
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#include <deque> |
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#include <fstream> |
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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(step_computer_force_EXPORTS) |
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#define StepComputerFORCE_EXPORT __declspec(dllexport) |
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#else |
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#define StepComputerFORCE_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define StepComputerFORCE_EXPORT |
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#endif |
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namespace dynamicgraph { |
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namespace sot { |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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class StepQueue; |
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/// Generates footsteps. |
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class StepComputerFORCE_EXPORT StepComputerForce : public Entity, |
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public StepComputer { |
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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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StepComputerForce(const std::string &name); |
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public: // Methods |
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void changeFirstStep(StepQueue &queue, int timeCurr); |
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void nextStep(StepQueue &queue, int timeCurr); |
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public: // Signals |
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SignalPtr<MatrixHomogeneous, int> waistMlhandSIN; |
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SignalPtr<MatrixHomogeneous, int> waistMrhandSIN; |
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SignalPtr<MatrixHomogeneous, int> referencePositionWaistSIN; |
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SignalPtr<Vector, int> stiffnessSIN; |
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SignalPtr<Vector, int> velocitySIN; |
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SignalPtr<unsigned, int> contactFootSIN; |
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SignalTimeDependent<Vector, int> displacementSOUT; |
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SignalTimeDependent<Vector, int> forceSOUT; |
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SignalTimeDependent<Vector, int> forceLhandSOUT; |
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SignalTimeDependent<Vector, int> forceRhandSOUT; |
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Vector &computeDisplacement(Vector &res, int timeCurr); |
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Vector &computeForce(Vector &res, int timeCurr); |
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Vector &computeForceL(Vector &res, int timeCurr); |
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Vector &computeForceR(Vector &res, int timeCurr); |
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Vector &computeHandForce(Vector &res, const MatrixHomogeneous &waMh, |
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const MatrixHomogeneous &waMref, const Vector &F); |
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public: // Entity |
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virtual void display(std::ostream &os) const; |
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virtual void commandLine(const std::string &cmdLine, |
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std::istringstream &cmdArgs, std::ostream &os); |
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private: // Reference frame |
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MatrixHomogeneous waMref0; |
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StepObserver *twoHandObserver; |
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StepChecker checker; |
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void thisIsZero(); |
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private: // Debug |
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std::ofstream logChanges; |
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std::ofstream logPreview; |
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}; |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // #ifndef __SOT_STEPCOMPUTER_H__ |