integrator-force-rk4.h
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/*
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* Copyright 2010,
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* François Bleibel,
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* Olivier Stasse,
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*
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* CNRS/AIST
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*
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*/
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#ifndef __SOT_SOTINTEGRATORFORCERK4_H__
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#define __SOT_SOTINTEGRATORFORCERK4_H__
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/* --------------------------------------------------------------------- */
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/* --- INCLUDE --------------------------------------------------------- */
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/* --------------------------------------------------------------------- */
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/* Matrix */
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#include <dynamic-graph/linear-algebra.h>
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/* SOT */
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#include <dynamic-graph/entity.h>
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#include <dynamic-graph/signal-ptr.h>
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#include <dynamic-graph/signal-time-dependent.h>
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#include <sot/core/matrix-geometry.hh>
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#include <
sot/dynamic-pinocchio/integrator-force.h
>
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/* STD */
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#include <string>
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/* --------------------------------------------------------------------- */
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/* --- API ------------------------------------------------------------- */
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/* --------------------------------------------------------------------- */
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#if defined(WIN32)
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#if defined(integrator_force_rk4_EXPORTS)
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#define SOTINTEGRATORFORCERK4_EXPORT __declspec(dllexport)
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#else
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#define SOTINTEGRATORFORCERK4_EXPORT __declspec(dllimport)
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#endif
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#else
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#define SOTINTEGRATORFORCERK4_EXPORT
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#endif
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namespace
dynamicgraph
{
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namespace
sot {
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namespace
dg
=
dynamicgraph
;
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/* --------------------------------------------------------------------- */
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/* --- CLASS ----------------------------------------------------------- */
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/* --------------------------------------------------------------------- */
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class
SOTINTEGRATORFORCERK4_EXPORT
IntegratorForceRK4
:
public
IntegratorForce
{
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public
:
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static
const
std::string
CLASS_NAME
;
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protected
:
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public
:
/* --- CONSTRUCTION --- */
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IntegratorForceRK4
(
const
std::string& name);
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virtual
~
IntegratorForceRK4
(
void
);
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public
:
/* --- SIGNAL --- */
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public
:
/* --- FUNCTIONS --- */
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dynamicgraph::Vector& computeDerivativeRK4(dynamicgraph::Vector& res,
const
int
& time);
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};
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}
/* namespace sot */
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}
/* namespace dynamicgraph */
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#endif // #ifndef __SOT_SOTINTEGRATORFORCERK4_H__
dynamicgraph
Definition:
angle-estimator.h:42
SOTINTEGRATORFORCERK4_EXPORT
#define SOTINTEGRATORFORCERK4_EXPORT
Definition:
integrator-force-rk4.h:42
dynamicgraph::sot::IntegratorForceRK4::CLASS_NAME
static const std::string CLASS_NAME
Definition:
integrator-force-rk4.h:55
integrator-force.h
dynamicgraph::sot::IntegratorForce
Definition:
integrator-force.h:51
dynamicgraph::sot::IntegratorForceRK4
Definition:
integrator-force-rk4.h:53
include
sot
dynamic-pinocchio
integrator-force-rk4.h
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