step-observer.h

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/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 * Copyright Projet JRL-Japan, 2007
 *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * File:      StepComputer.h
 * Project:   SOT
 * Author:    Paul Evrard, Nicolas Mansard
 *
 * Version control
 * ===============
 *
 *  $Id$
 *
 * Description
 * ============
 *
 * Computes reference signals for the stepper.
 *
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
 
#ifndef __SOT_STEP_OBSERVER_H__
#define __SOT_STEP_OBSERVER_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
 
#include <sot/core/matrix-geometry.hh>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(step_observer_EXPORTS)
#define StepObserver_EXPORT __declspec(dllexport)
#else
#define StepObserver_EXPORT __declspec(dllimport)
#endif
#else
#define StepObserver_EXPORT
#endif
 
namespace dynamicgraph {
namespace sot {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class StepObserver_EXPORT StepObserver : public Entity {
 public:
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
 
 public:
  SignalPtr<MatrixHomogeneous, int> leftHandPositionSIN;
  SignalPtr<MatrixHomogeneous, int> rightHandPositionSIN;
 
  SignalPtr<MatrixHomogeneous, int> leftFootPositionSIN;
  SignalPtr<MatrixHomogeneous, int> rightFootPositionSIN;
  SignalPtr<MatrixHomogeneous, int> waistPositionSIN;
 
  SignalTimeDependent<MatrixHomogeneous, int> referencePositionLeftSOUT;
 
  SignalTimeDependent<MatrixHomogeneous, int> referencePositionRightSOUT;
 
  SignalTimeDependent<MatrixHomogeneous, int> referencePositionWaistSOUT;
 
 public:  // methods
  StepObserver(const std::string &name);
 
  SignalArray<int> getSignals(void);
  operator SignalArray<int>();
 
 public:  // signal callbacks
  MatrixHomogeneous &computeReferencePositionLeft(MatrixHomogeneous &res,
                                                  int timeCurr);
  MatrixHomogeneous &computeReferencePositionRight(MatrixHomogeneous &res,
                                                   int timeCurr);
  MatrixHomogeneous &computeReferencePositionWaist(MatrixHomogeneous &res,
                                                   int timeCurr);
 
 public:  // Entity
  virtual void display(std::ostream &os) const;
  virtual void commandLine(const std::string &cmdLine,
                           std::istringstream &cmdArgs, std::ostream &os);
 
 private:  // helpers
  MatrixHomogeneous &computeRefPos(MatrixHomogeneous &res, int timeCurr,
                                   const MatrixHomogeneous &wMref);
};
 
}  // namespace sot
}  // namespace dynamicgraph
 
#endif