task-unilateral.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_TASKUNILATERAL_H__
#define __SOT_TASKUNILATERAL_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* Matrix */
#include <dynamic-graph/linear-algebra.h>
 
/* STD */
#include <string>
 
/* SOT */
#include <sot/core/exception-task.hh>
#include <sot/core/feature-abstract.hh>
#include <sot/core/flags.hh>
#include <sot/core/task.hh>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(task_unilateral_EXPORTS)
#define SOTTASKUNILATERAL_EXPORT __declspec(dllexport)
#else
#define SOTTASKUNILATERAL_EXPORT __declspec(dllimport)
#endif
#else
#define SOTTASKUNILATERAL_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
namespace dynamicgraph {
namespace sot {
 
class SOTTASKUNILATERAL_EXPORT TaskUnilateral : public Task {
 protected:
  std::list<FeatureAbstract *> featureList;
 
 public:
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
 
 public:
  TaskUnilateral(const std::string &n);
 
  /* --- COMPUTATION --- */
  VectorMultiBound &computeTaskUnilateral(VectorMultiBound &res,
                                          sigtime_t time);
 
  /* --- SIGNALS ------------------------------------------------------------ */
 public:
  dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> positionSIN;
  dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> referenceInfSIN;
  dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> referenceSupSIN;
  dynamicgraph::SignalPtr<double, sigtime_t> dtSIN;
 
  /* --- DISPLAY ------------------------------------------------------------ */
  void display(std::ostream &os) const;
};
 
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif /* #ifndef __SOT_TASKUNILATERAL_H__ */