10 #ifndef __SOT_ZMPREFFROMCOM_H__ 11 #define __SOT_ZMPREFFROMCOM_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(zmpreffromcom_EXPORTS) 35 #define SOTZMPREFFROMCOM_EXPORT __declspec(dllexport) 37 #define SOTZMPREFFROMCOM_EXPORT __declspec(dllimport) 40 #define SOTZMPREFFROMCOM_EXPORT 54 virtual const std::string&
getClassName(
void)
const {
return CLASS_NAME; }
67 dynamicgraph::Vector& computeZmpref(dynamicgraph::Vector& res,
const int& time);
71 dg::SignalPtr<dynamicgraph::Vector, int>
dcomSIN;
72 dg::SignalTimeDependent<dynamicgraph::Vector, int>
zmprefSOUT;
78 #endif // #ifndef __SOT_ZMPREFFROMCOM_H__ dg::SignalPtr< MatrixHomogeneous, int > waistPositionSIN
Definition: zmpreffromcom.h:69
dg::SignalTimeDependent< dynamicgraph::Vector, int > zmprefSOUT
Definition: zmpreffromcom.h:72
static const double DT_DEFAULT
Definition: zmpreffromcom.h:58
virtual const std::string & getClassName(void) const
Definition: zmpreffromcom.h:54
Definition: zmpreffromcom.h:51
double footHeight
Definition: zmpreffromcom.h:59
dg::SignalPtr< dynamicgraph::Vector, int > dcomSIN
Definition: zmpreffromcom.h:71
dg::SignalPtr< dynamicgraph::Vector, int > comPositionSIN
Definition: zmpreffromcom.h:70
double dt
Definition: zmpreffromcom.h:57
static const double FOOT_HEIGHT_DEFAULT
Definition: zmpreffromcom.h:60
static const std::string CLASS_NAME
Definition: zmpreffromcom.h:53
#define SOTZMPREFFROMCOM_EXPORT
Definition: zmpreffromcom.h:40
Definition: angle-estimator.h:42