sot-core  4.11.2
Hierarchical task solver plug-in for dynamic-graph.
visual-point-projecter.hh
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1 /*
2  * Copyright 2011, Nicolas Mansard, LAAS-CNRS
3  *
4  */
5 
6 #ifndef __sot_core_VisualPointProjecter_H__
7 #define __sot_core_VisualPointProjecter_H__
8 /* --------------------------------------------------------------------- */
9 /* --- API ------------------------------------------------------------- */
10 /* --------------------------------------------------------------------- */
11 
12 #if defined(WIN32)
13 #if defined(visual_point_projecter_EXPORTS)
14 #define SOTVISUALPOINTPROJECTER_EXPORT __declspec(dllexport)
15 #else
16 #define SOTVISUALPOINTPROJECTER_EXPORT __declspec(dllimport)
17 #endif
18 #else
19 #define SOTVISUALPOINTPROJECTER_EXPORT
20 #endif
21 
22 /* --------------------------------------------------------------------- */
23 /* --- INCLUDE --------------------------------------------------------- */
24 /* --------------------------------------------------------------------- */
25 
26 /* Matrix */
27 #include <dynamic-graph/linear-algebra.h>
28 
30 
31 /* SOT */
32 #include <dynamic-graph/entity-helper.h>
33 #include <dynamic-graph/signal-helper.h>
34 
35 namespace dynamicgraph {
36 namespace sot {
37 
38 /* --------------------------------------------------------------------- */
39 /* --- CLASS ----------------------------------------------------------- */
40 /* --------------------------------------------------------------------- */
41 
43  : public ::dynamicgraph::Entity,
44  public ::dynamicgraph::EntityHelper<VisualPointProjecter> {
45 
46 public: /* --- CONSTRUCTOR ---- */
47  VisualPointProjecter(const std::string &name);
48 
49 public: /* --- ENTITY INHERITANCE --- */
50  static const std::string CLASS_NAME;
51  virtual void display(std::ostream &os) const;
52  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
53 
54 public: /* --- SIGNALS --- */
55  DECLARE_SIGNAL_IN(point3D, dynamicgraph::Vector);
56  DECLARE_SIGNAL_IN(transfo, MatrixHomogeneous);
57 
58  DECLARE_SIGNAL_OUT(point3Dgaze, dynamicgraph::Vector);
59  DECLARE_SIGNAL_OUT(depth, double);
60  DECLARE_SIGNAL_OUT(point2D, dynamicgraph::Vector);
61 
62 }; // class VisualPointProjecter
63 
64 } // namespace sot
65 } // namespace dynamicgraph
66 
67 #endif // #ifndef __sot_core_VisualPointProjecter_H__
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:74
#define SOTVISUALPOINTPROJECTER_EXPORT
Definition: visual-point-projecter.hh:19
Definition: visual-point-projecter.hh:42
virtual const std::string & getClassName(void) const
Definition: visual-point-projecter.hh:52
static const std::string CLASS_NAME
Definition: visual-point-projecter.hh:50
Definition: abstract-sot-external-interface.hh:17