10 #ifndef __SOT_CLAMP_WORKSPACE_HH__ 11 #define __SOT_CLAMP_WORKSPACE_HH__ 17 #include <dynamic-graph/linear-algebra.h> 20 #include <dynamic-graph/all-signals.h> 21 #include <dynamic-graph/entity.h> 30 #if defined(clamp_workspace_EXPORTS) 31 #define SOTCLAMPWORKSPACE_EXPORT __declspec(dllexport) 33 #define SOTCLAMPWORKSPACE_EXPORT __declspec(dllimport) 36 #define SOTCLAMPWORKSPACE_EXPORT 49 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
55 dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int>
alphaSOUT;
56 dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int>
alphabarSOUT;
57 dynamicgraph::SignalTimeDependent<MatrixHomogeneous, int>
handrefSOUT;
63 void update(
int time);
65 virtual dynamicgraph::Matrix &computeOutput(dynamicgraph::Matrix &res,
67 virtual dynamicgraph::Matrix &computeOutputBar(dynamicgraph::Matrix &res,
71 virtual void display(std::ostream &)
const;
76 dynamicgraph::Matrix alpha;
77 dynamicgraph::Matrix alphabar;
79 dynamicgraph::Vector pd;
93 enum { FRAME_POINT, FRAME_REF } frame;
95 std::pair<double, double> bounds[3];
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:74
virtual const std::string & getClassName(void) const
Definition: clamp-workspace.hh:49
Definition: clamp-workspace.hh:46
dynamicgraph::SignalTimeDependent< dynamicgraph::Matrix, int > alphaSOUT
Definition: clamp-workspace.hh:55
dynamicgraph::SignalTimeDependent< MatrixHomogeneous, int > handrefSOUT
Definition: clamp-workspace.hh:57
dynamicgraph::SignalPtr< MatrixHomogeneous, int > positionrefSIN
Definition: clamp-workspace.hh:53
#define SOTCLAMPWORKSPACE_EXPORT
Definition: clamp-workspace.hh:36
dynamicgraph::SignalTimeDependent< dynamicgraph::Matrix, int > alphabarSOUT
Definition: clamp-workspace.hh:56
Eigen::Matrix< double, 3, 3 > SOT_CORE_EXPORT MatrixRotation
Definition: matrix-geometry.hh:75
virtual ~ClampWorkspace(void)
Definition: clamp-workspace.hh:61
static const std::string CLASS_NAME
Definition: clamp-workspace.hh:48
dynamicgraph::SignalPtr< MatrixHomogeneous, int > positionSIN
Definition: clamp-workspace.hh:54
Definition: abstract-sot-external-interface.hh:17