10 #ifndef __SOT_SOTGRIPPERCONTROL_H__
11 #define __SOT_SOTGRIPPERCONTROL_H__
18 #include <dynamic-graph/linear-algebra.h>
21 #include <dynamic-graph/all-signals.h>
22 #include <dynamic-graph/entity.h>
33 #if defined(gripper_control_EXPORTS)
34 #define SOTGRIPPERCONTROL_EXPORT __declspec(dllexport)
36 #define SOTGRIPPERCONTROL_EXPORT __declspec(dllimport)
39 #define SOTGRIPPERCONTROL_EXPORT
68 void computeIncrement(
const dynamicgraph::Vector &torques,
69 const dynamicgraph::Vector &torqueLimits,
70 const dynamicgraph::Vector ¤tNormVel);
73 dynamicgraph::Vector &
74 computeDesiredPosition(
const dynamicgraph::Vector ¤tPos,
75 const dynamicgraph::Vector &desiredPos,
76 const dynamicgraph::Vector &torques,
77 const dynamicgraph::Vector &torqueLimits,
78 dynamicgraph::Vector &referencePos);
84 static dynamicgraph::Vector &selector(
const dynamicgraph::Vector &fullsize,
86 dynamicgraph::Vector &desPos);
94 :
public dynamicgraph::Entity,
96 DYNAMIC_GRAPH_ENTITY_DECL();
106 virtual std::string getDocString()
const;
112 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
torqueSIN;
118 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
123 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
127 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
133 void setOffset(
const double &value);
139 #endif // #ifndef __SOT_SOTGRIPPERCONTROL_H__