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/*
* Copyright 2011, Nicolas Mansard, LAAS-CNRS
*
* This file is part of sot-dyninv.
* sot-dyninv is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dyninv is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dyninv. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __sot_dyninv_TaskDynInequality_H__
#define __sot_dyninv_TaskDynInequality_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined (WIN32)
# if defined (task_dyn_inequality_EXPORTS)
# define SOTTASKDYNINEQUALITY_EXPORT __declspec(dllexport)
# else
# define SOTTASKDYNINEQUALITY_EXPORT __declspec(dllimport)
# endif
#else
# define SOTTASKDYNINEQUALITY_EXPORT
#endif
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* SOT */
#include <sot-dyninv/signal-helper.h>
#include <sot-dyninv/entity-helper.h>
#include <sot/core/task.hh>
#include <sot/core/flags.hh>
#include <sot-dyninv/task-dyn-pd.h>
namespace dynamicgraph {
namespace sot {
namespace dyninv {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class SOTTASKDYNINEQUALITY_EXPORT TaskDynInequality
:public TaskDynPD
,public EntityHelper<TaskDynInequality>
{
Francois Keith
committed
DYNAMIC_GRAPH_ENTITY_DECL();
public: /* --- CONSTRUCTOR ---- */
TaskDynInequality( const std::string& name );
public: /* --- SIGNALS --- */
DECLARE_SIGNAL_IN(referenceInf,ml::Vector);
DECLARE_SIGNAL_IN(referenceSup,ml::Vector);
DECLARE_SIGNAL_IN(selec,Flags);
DECLARE_SIGNAL_OUT(normalizedPosition,ml::Vector);
DECLARE_SIGNAL_OUT(size,int);
public: /* --- COMPUTATION --- */
dg::sot::VectorMultiBound&
computeTaskDyn( dg::sot::VectorMultiBound& res,int time );
ml::Matrix&
computeJacobian( ml::Matrix& res,int time );
}; // class TaskDynInequality
} // namespace dyninv
} // namespace sot
} // namespace dynamicgraph
#endif // #ifndef __sot_dyninv_TaskDynInequality_H__