10 #ifndef __SOT_Control_GR_HH__ 11 #define __SOT_Control_GR_HH__ 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> 30 #if defined(control_gr_EXPORTS) 31 #define ControlGR_EXPORT __declspec(dllexport) 33 #define ControlGR_EXPORT __declspec(dllimport) 36 #define ControlGR_EXPORT 52 void init(
const double &step);
60 virtual void display(std::ostream &os)
const;
61 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
76 double &setsize(
int dimension);
77 dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau,
int t);
83 #endif // #ifndef __SOT_Control_GR_HH__ static const double TIME_STEP_DEFAULT
Definition: control-gr.hh:56
static const std::string CLASS_NAME
Definition: control-gr.hh:59
SignalPtr< dynamicgraph::Vector, int > gravitySIN
Definition: control-gr.hh:72
SignalPtr< dynamicgraph::Vector, int > accelerationSIN
Definition: control-gr.hh:71
SignalPtr< dynamicgraph::Matrix, int > matrixASIN
Definition: control-gr.hh:70
#define ControlGR_EXPORT
Definition: control-gr.hh:36
double _dimension
Definition: control-gr.hh:67
SignalTimeDependent< dynamicgraph::Vector, int > controlSOUT
Definition: control-gr.hh:73
Definition: control-gr.hh:46
virtual const std::string & getClassName(void) const
Definition: control-gr.hh:61
Definition: abstract-sot-external-interface.hh:17
double TimeStep
Definition: control-gr.hh:66