zmpreffromcom.h

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/*
 * 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 sigtime_t& time);
 
  dg::SignalPtr<MatrixHomogeneous, sigtime_t> waistPositionSIN;
  dg::SignalPtr<dynamicgraph::Vector, sigtime_t> comPositionSIN;
  dg::SignalPtr<dynamicgraph::Vector, sigtime_t> dcomSIN;
  dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> zmprefSOUT;
};
 
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif  // #ifndef __SOT_ZMPREFFROMCOM_H__