sot-core
4.11.4
Hierarchical task solver plug-in for dynamic-graph.
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9 #ifndef ABSTRACT_SOT_EXTERNAL_INTERFACE_HH
10 #define ABSTRACT_SOT_EXTERNAL_INTERFACE_HH
24 std::vector<double> values_;
30 const std::string &
getName()
const {
return name_; }
32 void setName(
const std::string &aname) { name_ = aname; }
34 const std::vector<double> &
getValues()
const {
return values_; }
36 void setValues(
const std::vector<double> &values) { values_ = values; }
48 setupSetSensors(std::map<std::string, SensorValues> &sensorsIn) = 0;
51 nominalSetSensors(std::map<std::string, SensorValues> &sensorsIn) = 0;
54 cleanupSetSensors(std::map<std::string, SensorValues> &sensorsIn) = 0;
56 virtual void getControl(std::map<std::string, ControlValues> &) = 0;
57 virtual void setSecondOrderIntegration(
void) = 0;
58 virtual void setNoIntegration(
void) = 0;
const std::string & getName() const
Definition: abstract-sot-external-interface.hh:30
AbstractSotExternalInterface()
Definition: abstract-sot-external-interface.hh:43
#define SOT_CORE_EXPORT
Definition: api.hh:20
dynamicgraph::sot::AbstractSotExternalInterface * createSotExternalInterface_t()
Definition: abstract-sot-external-interface.hh:64
Definition: abstract-sot-external-interface.hh:17
~NamedVector()
Definition: abstract-sot-external-interface.hh:28
virtual ~AbstractSotExternalInterface()
Definition: abstract-sot-external-interface.hh:45
NamedVector ControlValues
Definition: abstract-sot-external-interface.hh:39
NamedVector SensorValues
Definition: abstract-sot-external-interface.hh:38
void setName(const std::string &aname)
Definition: abstract-sot-external-interface.hh:32
NamedVector()
Definition: abstract-sot-external-interface.hh:27
Definition: abstract-sot-external-interface.hh:41
const std::vector< double > & getValues() const
Definition: abstract-sot-external-interface.hh:34
Definition: abstract-sot-external-interface.hh:20
void setValues(const std::vector< double > &values)
Definition: abstract-sot-external-interface.hh:36
void destroySotExternalInterface_t(dynamicgraph::sot::AbstractSotExternalInterface *)
Definition: abstract-sot-external-interface.hh:65