sot-core
4.11.6
Hierarchical task solver plug-in for dynamic-graph.
|
Go to the documentation of this file.
10 #ifndef __SOT_DERIVATOR_H__
11 #define __SOT_DERIVATOR_H__
18 #include <dynamic-graph/linear-algebra.h>
21 #include <dynamic-graph/all-signals.h>
22 #include <dynamic-graph/entity.h>
37 template <
class T>
class Derivator :
public dynamicgraph::Entity {
38 DYNAMIC_GRAPH_ENTITY_DECL();
52 SIN(NULL,
"sotDerivator<" +
getTypeName() +
">(" + name +
")::input(" +
55 "sotDerivator<" +
getTypeName() +
">(" + name +
")::output(" +
58 ")::input(double)::dt") {
67 dynamicgraph::SignalPtr<T, int>
SIN;
68 dynamicgraph::SignalTimeDependent<T, int>
SOUT;
98 res.coeffs() += memory.coeffs();
100 res.coeffs() *= (1. / timestep);
113 #endif // #ifndef __SOT_DERIVATOR_H__
Eigen::Quaternion< double > SOT_CORE_EXPORT VectorQuaternion
Definition: matrix-geometry.hh:77
double timestep
Definition: derivator.hh:43
Definition: abstract-sot-external-interface.hh:17
T memory
Definition: derivator.hh:41
virtual ~Derivator(void)
Definition: derivator.hh:64
dynamicgraph::SignalTimeDependent< T, int > SOUT
Definition: derivator.hh:68
static std::string getTypeName(void)
Definition: derivator.hh:47
Derivator(const std::string &name)
Definition: derivator.hh:49
dynamicgraph::Signal< double, int > timestepSIN
Definition: derivator.hh:69
bool initialized
Definition: derivator.hh:42
dynamicgraph::SignalPtr< T, int > SIN
Definition: derivator.hh:64
Definition: derivator.hh:37
static const double TIMESTEP_DEFAULT
Definition: derivator.hh:44
T & computeDerivation(T &res, int time)
Definition: derivator.hh:72