10 #ifndef __SOT_SOTINTEGRATORFORCE_H__ 11 #define __SOT_SOTINTEGRATORFORCE_H__ 18 #include <dynamic-graph/linear-algebra.h> 21 #include <dynamic-graph/entity.h> 22 #include <dynamic-graph/signal-ptr.h> 23 #include <dynamic-graph/signal-time-dependent.h> 24 #include <sot/core/matrix-geometry.hh> 34 #if defined(integrator_force_EXPORTS) 35 #define SOTINTEGRATORFORCE_EXPORT __declspec(dllexport) 37 #define SOTINTEGRATORFORCE_EXPORT __declspec(dllimport) 40 #define SOTINTEGRATORFORCE_EXPORT 54 virtual const std::string&
getClassName(
void)
const {
return CLASS_NAME; }
65 dg::SignalPtr<dynamicgraph::Vector, int>
forceSIN;
75 dg::SignalPtr<dynamicgraph::Matrix, int>
massSIN;
79 dynamicgraph::Vector& computeDerivative(dynamicgraph::Vector& res,
const int& time);
80 dynamicgraph::Vector& computeIntegral(dynamicgraph::Vector& res,
const int& time);
82 dynamicgraph::Matrix& computeMassInverse(dynamicgraph::Matrix& res,
const int& time);
88 #endif // #ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__ dg::SignalPtr< dynamicgraph::Vector, int > velocityPrecSIN
Definition: integrator-force.h:71
static const std::string CLASS_NAME
Definition: integrator-force.h:53
virtual const std::string & getClassName(void) const
Definition: integrator-force.h:54
dg::SignalPtr< dynamicgraph::Matrix, int > massInverseSIN
Definition: integrator-force.h:66
dg::SignalTimeDependent< dynamicgraph::Vector, int > velocityDerivativeSOUT
Definition: integrator-force.h:72
dg::SignalTimeDependent< dynamicgraph::Matrix, int > massInverseSOUT
Definition: integrator-force.h:76
Definition: integrator-force.h:51
static const double TIME_STEP_DEFAULT
Definition: integrator-force.h:58
#define SOTINTEGRATORFORCE_EXPORT
Definition: integrator-force.h:40
dg::SignalPtr< dynamicgraph::Matrix, int > frictionSIN
Definition: integrator-force.h:67
dg::SignalPtr< dynamicgraph::Vector, int > forceSIN
Definition: integrator-force.h:65
dg::SignalTimeDependent< dynamicgraph::Vector, int > velocitySOUT
Definition: integrator-force.h:73
double timeStep
Definition: integrator-force.h:57
dg::SignalPtr< dynamicgraph::Matrix, int > massSIN
Definition: integrator-force.h:75
Definition: angle-estimator.h:42