zmp-estimator.h

/*
 * 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_ZmpEstimator_H__
#define __sot_dyninv_ZmpEstimator_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#if defined (WIN32)
#  if defined (dynamic_interpretor_EXPORTS)
#    define SOTZMPESTIMATOR_EXPORT __declspec(dllexport)
#  else
#    define SOTZMPESTIMATOR_EXPORT __declspec(dllimport)
#  endif
#else
#  define SOTZMPESTIMATOR_EXPORT
#endif

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */


/* SOT */
#include <sot-dyninv/signal-helper.h>
#include <sot-dyninv/entity-helper.h>

namespace dynamicgraph {
  namespace sot {
    namespace dyninv {

      /* --------------------------------------------------------------------- */
      /* --- CLASS ----------------------------------------------------------- */
      /* --------------------------------------------------------------------- */

      class SOTZMPESTIMATOR_EXPORT ZmpEstimator
	:public ::dynamicgraph::Entity
	,public ::dynamicgraph::EntityHelper<ZmpEstimator>
	{

	public: /* --- CONSTRUCTOR ---- */

	  ZmpEstimator( const std::string & name );

	public: /* --- ENTITY INHERITANCE --- */

	  static const std::string CLASS_NAME;
	  virtual void display( std::ostream& os ) const;
	  virtual const std::string& getClassName( void ) const { return CLASS_NAME; }

	  virtual void commandLine( const std::string& cmdLine,
				    std::istringstream& cmdArgs,
				    std::ostream& os );

	public:  /* --- SIGNALS --- */

	  DECLARE_SIGNAL_IN(fn,ml::Vector);
	  DECLARE_SIGNAL_IN(support,ml::Matrix);
	  DECLARE_SIGNAL_OUT(zmp,ml::Vector);

	}; // class ZmpEstimator

    } // namespace dyninv
  } // namespace sot
} // namespace dynamicgraph



#endif // #ifndef __sot_dyninv_ZmpEstimator_H__