sot-core  4.11.6
Hierarchical task solver plug-in for dynamic-graph.
abstract-sot-external-interface.hh
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1 /*
2  * Copyright 2011,
3  * Olivier Stasse, CNRS
4  *
5  * CNRS
6  *
7  */
8 
9 #ifndef ABSTRACT_SOT_EXTERNAL_INTERFACE_HH
10 #define ABSTRACT_SOT_EXTERNAL_INTERFACE_HH
11 
12 #include <map>
13 #include <sot/core/api.hh>
14 #include <string>
15 #include <vector>
16 
17 namespace dynamicgraph {
18 namespace sot {
19 
21 
22 private:
23  std::string name_;
24  std::vector<double> values_;
25 
26 public:
29 
30  const std::string &getName() const { return name_; }
31 
32  void setName(const std::string &aname) { name_ = aname; }
33 
34  const std::vector<double> &getValues() const { return values_; }
35 
36  void setValues(const std::vector<double> &values) { values_ = values; }
37 };
40 
42 public:
44 
46 
47  virtual void
48  setupSetSensors(std::map<std::string, SensorValues> &sensorsIn) = 0;
49 
50  virtual void
51  nominalSetSensors(std::map<std::string, SensorValues> &sensorsIn) = 0;
52 
53  virtual void
54  cleanupSetSensors(std::map<std::string, SensorValues> &sensorsIn) = 0;
55 
56  virtual void getControl(std::map<std::string, ControlValues> &) = 0;
57  virtual void setSecondOrderIntegration(void) = 0;
58  virtual void setNoIntegration(void) = 0;
59 };
60 } // namespace sot
61 } // namespace dynamicgraph
62 
67 
68 #endif
AbstractSotExternalInterface()
Definition: abstract-sot-external-interface.hh:43
NamedVector()
Definition: abstract-sot-external-interface.hh:27
const std::vector< double > & getValues() const
Definition: abstract-sot-external-interface.hh:34
#define SOT_CORE_EXPORT
Definition: api.hh:20
NamedVector ControlValues
Definition: abstract-sot-external-interface.hh:39
void setValues(const std::vector< double > &values)
Definition: abstract-sot-external-interface.hh:36
const std::string & getName() const
Definition: abstract-sot-external-interface.hh:30
virtual ~AbstractSotExternalInterface()
Definition: abstract-sot-external-interface.hh:45
NamedVector SensorValues
Definition: abstract-sot-external-interface.hh:38
~NamedVector()
Definition: abstract-sot-external-interface.hh:28
dynamicgraph::sot::AbstractSotExternalInterface * createSotExternalInterface_t()
Definition: abstract-sot-external-interface.hh:64
Definition: abstract-sot-external-interface.hh:41
void destroySotExternalInterface_t(dynamicgraph::sot::AbstractSotExternalInterface *)
Definition: abstract-sot-external-interface.hh:65
void setName(const std::string &aname)
Definition: abstract-sot-external-interface.hh:32
Definition: abstract-sot-external-interface.hh:17
Definition: abstract-sot-external-interface.hh:20