sot-core  4.11.6
Hierarchical task solver plug-in for dynamic-graph.
task-unilateral.hh
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1 /*
2  * Copyright 2010,
3  * François Bleibel,
4  * Olivier Stasse,
5  *
6  * CNRS/AIST
7  *
8  */
9 
10 #ifndef __SOT_TASKUNILATERAL_H__
11 #define __SOT_TASKUNILATERAL_H__
12 
13 /* --------------------------------------------------------------------- */
14 /* --- INCLUDE --------------------------------------------------------- */
15 /* --------------------------------------------------------------------- */
16 
17 /* Matrix */
18 #include <dynamic-graph/linear-algebra.h>
19 
20 /* STD */
21 #include <string>
22 
23 /* SOT */
25 #include <sot/core/flags.hh>
26 #include <sot/core/task.hh>
27 
29 
30 /* --------------------------------------------------------------------- */
31 /* --- API ------------------------------------------------------------- */
32 /* --------------------------------------------------------------------- */
33 
34 #if defined(WIN32)
35 #if defined(task_unilateral_EXPORTS)
36 #define SOTTASKUNILATERAL_EXPORT __declspec(dllexport)
37 #else
38 #define SOTTASKUNILATERAL_EXPORT __declspec(dllimport)
39 #endif
40 #else
41 #define SOTTASKUNILATERAL_EXPORT
42 #endif
43 
44 /* --------------------------------------------------------------------- */
45 /* --- CLASS ----------------------------------------------------------- */
46 /* --------------------------------------------------------------------- */
47 
48 namespace dynamicgraph {
49 namespace sot {
50 
52 protected:
53  std::list<FeatureAbstract *> featureList;
54 
55 public:
56  static const std::string CLASS_NAME;
57  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
58 
59 public:
60  TaskUnilateral(const std::string &n);
61 
62  /* --- COMPUTATION --- */
63  VectorMultiBound &computeTaskUnilateral(VectorMultiBound &res, int time);
64 
65  /* --- SIGNALS ------------------------------------------------------------ */
66 public:
67  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionSIN;
68  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> referenceInfSIN;
69  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> referenceSupSIN;
70  dynamicgraph::SignalPtr<double, int> dtSIN;
71 
72  /* --- DISPLAY ------------------------------------------------------------ */
73  void display(std::ostream &os) const;
74 };
75 
76 } /* namespace sot */
77 } /* namespace dynamicgraph */
78 
79 #endif /* #ifndef __SOT_TASKUNILATERAL_H__ */
std::vector< MultiBound > VectorMultiBound
Definition: multi-bound.hh:69
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > referenceSupSIN
Definition: task-unilateral.hh:69
virtual const std::string & getClassName(void) const
Definition: task-unilateral.hh:57
dynamicgraph::SignalPtr< double, int > dtSIN
Definition: task-unilateral.hh:70
std::list< FeatureAbstract * > featureList
Definition: task-unilateral.hh:53
static const std::string CLASS_NAME
Definition: task-unilateral.hh:56
#define SOTTASKUNILATERAL_EXPORT
Definition: task-unilateral.hh:41
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionSIN
Definition: task-unilateral.hh:67
Definition: task-unilateral.hh:51
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > referenceInfSIN
Definition: task-unilateral.hh:68
Class that defines the basic elements of a task.
Definition: task.hh:73
Definition: abstract-sot-external-interface.hh:17