10 #ifndef SOT_CORE_FEATURE_POSTURE_HH 11 #define SOT_CORE_FEATURE_POSTURE_HH 13 #include <dynamic-graph/signal-ptr.h> 14 #include <dynamic-graph/signal-time-dependent.h> 15 #include <dynamic-graph/value.h> 24 #if defined(feature_posture_EXPORTS) 25 #define SOTFEATUREPOSTURE_EXPORT __declspec(dllexport) 27 #define SOTFEATUREPOSTURE_EXPORT __declspec(dllimport) 30 #define SOTFEATUREPOSTURE_EXPORT 35 using command::Command;
51 friend class SelectDof;
53 DYNAMIC_GRAPH_ENTITY_DECL();
56 typedef dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
signalIn_t;
57 typedef dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
64 virtual unsigned int &getDimension(
unsigned int &res,
int);
65 void selectDof(
unsigned dofId,
bool control);
68 virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
int);
69 virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
int);
70 virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
79 std::vector<bool> activeDofs_;
80 std::size_t nbActiveDofs_;
85 #endif // SOT_CORE_FEATURE_POSTURE_HH Definition: feature-posture.hh:49
signalOut_t error_
Definition: feature-posture.hh:76
signalIn_t posture_
Definition: feature-posture.hh:74
signalIn_t state_
Definition: feature-posture.hh:73
signalIn_t postureDot_
Definition: feature-posture.hh:75
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > signalIn_t
Definition: feature-posture.hh:56
#define SOTFEATUREPOSTURE_EXPORT
Definition: feature-posture.hh:30
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > signalOut_t
Definition: feature-posture.hh:58
DECLARE_NO_REFERENCE
Definition: feature-posture.hh:60
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
Definition: abstract-sot-external-interface.hh:17