zmpreffromcom.h

Go to the documentation of this file.

/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

#ifndef __SOT_ZMPREFFROMCOM_H__
#define __SOT_ZMPREFFROMCOM_H__

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* Matrix */
#include <dynamic-graph/linear-algebra.h>

/* SOT */
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>

#include <sot/core/matrix-geometry.hh>

/* STD */
#include <string>

/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#if defined(WIN32)
#if defined(zmpreffromcom_EXPORTS)
#define SOTZMPREFFROMCOM_EXPORT __declspec(dllexport)
#else
#define SOTZMPREFFROMCOM_EXPORT __declspec(dllimport)
#endif
#else
#define SOTZMPREFFROMCOM_EXPORT
#endif

namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

class SOTZMPREFFROMCOM_EXPORT ZmprefFromCom : public dg::Entity {
 public:
  static const std::string CLASS_NAME;
  virtual const std::string& getClassName(void) const { return CLASS_NAME; }

 public:
  double dt;
  const static double DT_DEFAULT;  // = 5e-3; // 5ms
  double footHeight;
  const static double FOOT_HEIGHT_DEFAULT;  // = .105;

 public: /* --- CONSTRUCTION --- */
  ZmprefFromCom(const std::string& name);
  virtual ~ZmprefFromCom(void);

 public: /* --- SIGNAL --- */
  dynamicgraph::Vector& computeZmpref(dynamicgraph::Vector& res,
                                      const int& time);

  dg::SignalPtr<MatrixHomogeneous, int> waistPositionSIN;
  dg::SignalPtr<dynamicgraph::Vector, int> comPositionSIN;
  dg::SignalPtr<dynamicgraph::Vector, int> dcomSIN;
  dg::SignalTimeDependent<dynamicgraph::Vector, int> zmprefSOUT;
};

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

#endif  // #ifndef __SOT_ZMPREFFROMCOM_H__