control-gr.hh
Go to the documentation of this file.
1 /*
2  * Copyright 2010,
3  * François Bleibel,
4  * Olivier Stasse,
5  *
6  * CNRS/AIST
7  *
8  */
9 
10 #ifndef __SOT_Control_GR_HH__
11 #define __SOT_Control_GR_HH__
12 
13 /* --------------------------------------------------------------------- */
14 /* --- INCLUDE --------------------------------------------------------- */
15 /* --------------------------------------------------------------------- */
16 
17 /* Matrix */
19 
20 /* SOT */
21 #include <dynamic-graph/entity.h>
24 
25 /* --------------------------------------------------------------------- */
26 /* --- API ------------------------------------------------------------- */
27 /* --------------------------------------------------------------------- */
28 
29 #if defined(WIN32)
30 #if defined(control_gr_EXPORTS)
31 #define ControlGR_EXPORT __declspec(dllexport)
32 #else
33 #define ControlGR_EXPORT __declspec(dllimport)
34 #endif
35 #else
36 #define ControlGR_EXPORT
37 #endif
38 
39 namespace dynamicgraph {
40 namespace sot {
41 
42 /* --------------------------------------------------------------------- */
43 /* --- CLASS ----------------------------------------------------------- */
44 /* --------------------------------------------------------------------- */
45 
47  public: /* --- CONSTRUCTOR ---- */
48  ControlGR(const std::string &name);
49 
50  public: /* --- INIT --- */
51  void init(const double &step);
52 
53  public: /* --- CONSTANTS --- */
54  /* Default values. */
55  static const double TIME_STEP_DEFAULT; // = 0.001
56 
57  public: /* --- ENTITY INHERITANCE --- */
58  static const std::string CLASS_NAME;
59  virtual void display(std::ostream &os) const;
60  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
61 
62  protected:
63  /* Parameters of the torque-control function:
64  * tau = - A*qddot = g */
65  double TimeStep;
66  double _dimension;
67 
68  public: /* --- SIGNALS --- */
73 
74  protected:
75  double &setsize(int dimension);
76  dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, int t);
77 };
78 
79 } // namespace sot
80 } // namespace dynamicgraph
81 
82 #endif // #ifndef __SOT_Control_GR_HH__
Eigen::VectorXd Vector
static const std::string CLASS_NAME
Definition: control-gr.hh:58
static const double TIME_STEP_DEFAULT
Definition: control-gr.hh:55
SignalPtr< dynamicgraph::Vector, int > gravitySIN
Definition: control-gr.hh:71
SignalPtr< dynamicgraph::Vector, int > accelerationSIN
Definition: control-gr.hh:70
SignalPtr< dynamicgraph::Matrix, int > matrixASIN
Definition: control-gr.hh:69
void init(bool compute_local_aabb=true)
#define ControlGR_EXPORT
Definition: control-gr.hh:36
SignalTimeDependent< dynamicgraph::Vector, int > controlSOUT
Definition: control-gr.hh:72
Transform3f t
virtual const std::string & getClassName(void) const
Definition: control-gr.hh:60


sot-core
Author(s): Olivier Stasse, ostasse@laas.fr
autogenerated on Wed Jun 21 2023 02:51:26