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, int time);
  VectorMultiBound &computeTaskModif(VectorMultiBound &error, int time);

  /* --- SIGNALS ------------------------------------------------------------ */
 public:
  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> errorDotSOUT;
  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> errorDotSIN;

  /* --- PARAMS --- */
  void initCommand(void);
};

} /* namespace sot */
} /* namespace dynamicgraph */

#endif /* #ifndef __SOT_TASK_PD_H__ */