step-computer.h

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/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 * Copyright Projet JRL-Japan, 2007
 *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * File:      StepComputer.h
 * Project:   SOT
 * Author:    Paul Evrard, Nicolas Mansard
 *
 * Version control
 * ===============
 *
 *  $Id$
 *
 * Description
 * ============
 *
 *
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
 
#ifndef __SOT_StepComputer_H__
#define __SOT_StepComputer_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* Matrix */
 
/* SOT */
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot/pattern-generator/step-checker.h>
#include <sot/pattern-generator/step-observer.h>
 
#include <sot/core/matrix-geometry.hh>
 
/* STD */
#include <deque>
#include <fstream>
#include <string>
 
namespace dynamicgraph {
namespace sot {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class StepQueue;
 
class StepComputer {
 public:  // Methods
  virtual void changeFirstStep(StepQueue &queue, int timeCurr) = 0;
  virtual void nextStep(StepQueue &queue, int timeCurr) = 0;
  virtual ~StepComputer(){};
};
 
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __SOT_STEPCOMPUTER_H__