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20 #ifndef __SOT_StepComputer_FORCE_H__
21 #define __SOT_StepComputer_FORCE_H__
28 #include <dynamic-graph/entity.h>
29 #include <dynamic-graph/signal-ptr.h>
30 #include <dynamic-graph/signal-time-dependent.h>
35 #include <sot/core/matrix-geometry.hh>
46 #if defined(step_computer_force_EXPORTS)
47 #define StepComputerFORCE_EXPORT __declspec(dllexport)
49 #define StepComputerFORCE_EXPORT __declspec(dllimport)
52 #define StepComputerFORCE_EXPORT
69 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
75 void changeFirstStep(
StepQueue &queue,
int timeCurr);
76 void nextStep(
StepQueue &queue,
int timeCurr);
91 Vector &computeDisplacement(Vector &res,
int timeCurr);
92 Vector &computeForce(Vector &res,
int timeCurr);
93 Vector &computeForceL(Vector &res,
int timeCurr);
94 Vector &computeForceR(Vector &res,
int timeCurr);
95 Vector &computeHandForce(Vector &res,
const MatrixHomogeneous &waMh,
96 const MatrixHomogeneous &waMref,
const Vector &F);
99 virtual void display(std::ostream &os)
const;
100 virtual void commandLine(
const std::string &cmdLine,
101 std::istringstream &cmdArgs, std::ostream &os);
104 MatrixHomogeneous waMref0;
111 std::ofstream logChanges;
112 std::ofstream logPreview;
118 #endif // #ifndef __SOT_STEPCOMPUTER_H__
SignalPtr< Vector, int > stiffnessSIN
Definition: step-computer-force.h:82
Definition: exception-pg.h:47
SignalPtr< unsigned, int > contactFootSIN
Definition: step-computer-force.h:84
#define StepComputerFORCE_EXPORT
Definition: step-computer-force.h:52
SignalTimeDependent< Vector, int > displacementSOUT
Definition: step-computer-force.h:86
SignalPtr< MatrixHomogeneous, int > waistMrhandSIN
Definition: step-computer-force.h:80
static const std::string CLASS_NAME
Definition: step-computer-force.h:68
SignalPtr< MatrixHomogeneous, int > waistMlhandSIN
Definition: step-computer-force.h:79
SignalTimeDependent< Vector, int > forceRhandSOUT
Definition: step-computer-force.h:89
Generates footsteps.
Definition: step-computer.h:53
Definition: step-checker.h:41
SignalTimeDependent< Vector, int > forceLhandSOUT
Definition: step-computer-force.h:88
SignalPtr< Vector, int > velocitySIN
Definition: step-computer-force.h:83
virtual const std::string & getClassName(void) const
Definition: step-computer-force.h:69
SignalPtr< MatrixHomogeneous, int > referencePositionWaistSIN
Definition: step-computer-force.h:81
A step queue in the preview window.
Definition: step-queue.h:77
Definition: step-observer.h:59
SignalTimeDependent< Vector, int > forceSOUT
Definition: step-computer-force.h:87
Generates footsteps.
Definition: step-computer-force.h:65