task-pd.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_TASK_PD_H__
#define __SOT_TASK_PD_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* SOT */
#include <sot/core/task.hh>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(task_pd_EXPORTS)
#define SOTTASKPD_EXPORT __declspec(dllexport)
#else
#define SOTTASKPD_EXPORT __declspec(dllimport)
#endif
#else
#define SOTTASKPD_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
namespace dynamicgraph {
namespace sot {
 
class SOTTASKPD_EXPORT TaskPD : public Task {
 public:
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
 
  dynamicgraph::Vector previousError;
  double beta;
 
 public:
  TaskPD(const std::string &n);
 
  /* --- COMPUTATION --- */
  dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &error,
                                        sigtime_t time);
  VectorMultiBound &computeTaskModif(VectorMultiBound &error, sigtime_t time);
 
  /* --- SIGNALS ------------------------------------------------------------ */
 public:
  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t>
      errorDotSOUT;
  dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> errorDotSIN;
 
  /* --- PARAMS --- */
  void initCommand(void);
};
 
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif /* #ifndef __SOT_TASK_PD_H__ */