1 |
|
|
/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 |
|
|
* Copyright Projet JRL-Japan, 2007 |
3 |
|
|
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 |
|
|
* |
5 |
|
|
* File: StepComputer.h |
6 |
|
|
* Project: SOT |
7 |
|
|
* Author: Paul Evrard, Nicolas Mansard |
8 |
|
|
* |
9 |
|
|
* Version control |
10 |
|
|
* =============== |
11 |
|
|
* |
12 |
|
|
* $Id$ |
13 |
|
|
* |
14 |
|
|
* Description |
15 |
|
|
* ============ |
16 |
|
|
* |
17 |
|
|
* |
18 |
|
|
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ |
19 |
|
|
|
20 |
|
|
#ifndef __SOT_StepComputer_H__ |
21 |
|
|
#define __SOT_StepComputer_H__ |
22 |
|
|
|
23 |
|
|
/* --------------------------------------------------------------------- */ |
24 |
|
|
/* --- INCLUDE --------------------------------------------------------- */ |
25 |
|
|
/* --------------------------------------------------------------------- */ |
26 |
|
|
|
27 |
|
|
/* Matrix */ |
28 |
|
|
|
29 |
|
|
/* SOT */ |
30 |
|
|
#include <dynamic-graph/entity.h> |
31 |
|
|
#include <dynamic-graph/signal-ptr.h> |
32 |
|
|
#include <dynamic-graph/signal-time-dependent.h> |
33 |
|
|
#include <sot/pattern-generator/step-checker.h> |
34 |
|
|
#include <sot/pattern-generator/step-observer.h> |
35 |
|
|
|
36 |
|
|
#include <sot/core/matrix-geometry.hh> |
37 |
|
|
|
38 |
|
|
/* STD */ |
39 |
|
|
#include <deque> |
40 |
|
|
#include <fstream> |
41 |
|
|
#include <string> |
42 |
|
|
|
43 |
|
|
namespace dynamicgraph { |
44 |
|
|
namespace sot { |
45 |
|
|
|
46 |
|
|
/* --------------------------------------------------------------------- */ |
47 |
|
|
/* --- CLASS ----------------------------------------------------------- */ |
48 |
|
|
/* --------------------------------------------------------------------- */ |
49 |
|
|
|
50 |
|
|
class StepQueue; |
51 |
|
|
|
52 |
|
|
/// Generates footsteps. |
53 |
|
|
class StepComputer { |
54 |
|
|
public: // Methods |
55 |
|
|
virtual void changeFirstStep(StepQueue &queue, int timeCurr) = 0; |
56 |
|
|
virtual void nextStep(StepQueue &queue, int timeCurr) = 0; |
57 |
|
|
virtual ~StepComputer(){}; |
58 |
|
|
}; |
59 |
|
|
|
60 |
|
|
} // namespace sot |
61 |
|
|
} // namespace dynamicgraph |
62 |
|
|
|
63 |
|
|
#endif // #ifndef __SOT_STEPCOMPUTER_H__ |