pg-manager.h

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/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 * Copyright Projet JRL-Japan, 2007
 *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * File:      PGManager.h
 * Project:   SOT
 * Author:    Nicolas Mansard, Olivier Stasse, Paul Evrard
 *
 * Version control
 * ===============
 *
 *  $Id$
 *
 * Description
 * ============
 *
 * PGManager entity: configures the PG and sends steps.
 *
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
 
#ifndef __SOT_PG_MANAGER_H__
#define __SOT_PG_MANAGER_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <pinocchio/fwd.hpp>
 
/* Matrix */
#include <Eigen/Dense>
 
/* SOT */
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot/pattern-generator/pg.h>
#include <sot/pattern-generator/step-queue.h>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(pg_manager_EXPORTS)
#define PGManager_EXPORT __declspec(dllexport)
#else
#define PGManager_EXPORT __declspec(dllimport)
#endif
#else
#define PGManager_EXPORT
#endif
 
namespace dynamicgraph {
namespace sot {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class StepQueue;
class PatternGenerator;
 
class PGManager_EXPORT PGManager : public Entity {
 public:  // Entity name
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:  // Construction
  PGManager(const std::string &name);
 
  void startSequence(const StepQueue &seq);
  void stopSequence(const StepQueue &seq);
  void introduceStep(StepQueue &queue);
  double changeNextStep(StepQueue &queue);
 
 public:  // Entity
  virtual void display(std::ostream &os) const;
  virtual void commandLine(const std::string &cmdLine,
                           std::istringstream &cmdArgs, std::ostream &os);
 
 private:
  std::vector<FootPrint> stepbuf_;
  PatternGenerator *spg_;
  PatternGeneratorJRL::PatternGeneratorInterface *pgi_;
};
 
}  // namespace sot
}  // namespace dynamicgraph
 
#endif