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7 #ifndef SOT_TOOLS_CUBIC_INTERPOLATION_SE3_HH
8 #define SOT_TOOLS_CUBIC_INTERPOLATION_SE3_HH
10 #include <dynamic-graph/entity.h>
11 #include <dynamic-graph/signal-ptr.h>
12 #include <dynamic-graph/signal-time-dependent.h>
13 #include <sot/core/matrix-geometry.hh>
19 DYNAMIC_GRAPH_ENTITY_DECL();
25 void start(
const double& duration);
34 virtual void doStart(
const double& duration);
35 dynamicgraph::Signal<MatrixHomogeneous, int>
soutSOUT_;
37 dynamicgraph::SignalPtr<MatrixHomogeneous, int>
initSIN_;
38 dynamicgraph::SignalPtr<MatrixHomogeneous, int>
goalSIN_;
40 MatrixHomogeneous&
computeSout(MatrixHomogeneous& sout,
const int& inTime);
60 #endif // SOT_TOOLS_CUBIC_INTERPOLATION_SE3_HH
Definition: cubic-interpolation-se3.hh:15