joint-limitator.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef SOT_FEATURE_JOINTLIMITS_HH
#define SOT_FEATURE_JOINTLIMITS_HH
// Matrix
#include <dynamic-graph/linear-algebra.h>
 
// SOT
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/entity.h>
 
#include <sot/core/exception-task.hh>
 
#if defined(WIN32)
#if defined(joint_limitator_EXPORTS)
#define SOTJOINTLIMITATOR_EXPORT __declspec(dllexport)
#else
#define SOTJOINTLIMITATOR_EXPORT __declspec(dllimport)
#endif
#else
#define SOTJOINTLIMITATOR_EXPORT
#endif
 
namespace dynamicgraph {
namespace sot {
 
class SOTJOINTLIMITATOR_EXPORT JointLimitator : public dynamicgraph::Entity {
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  JointLimitator(const std::string &name);
  virtual ~JointLimitator() {}
 
  virtual dynamicgraph::Vector &computeControl(dynamicgraph::Vector &res,
                                               sigtime_t time);
  dynamicgraph::Vector &computeWidthJl(dynamicgraph::Vector &res,
                                       const sigtime_t &time);
 
  virtual void display(std::ostream &os) const;
 
  dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> jointSIN;
  dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> upperJlSIN;
  dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> lowerJlSIN;
  dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> controlSIN;
  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t>
      controlSOUT;
  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t>
      widthJlSINTERN;
};
}  // end of namespace sot.
}  // namespace dynamicgraph
 
#endif