10 #ifndef __SOT_SMOOTHREACH_H_H 11 #define __SOT_SMOOTHREACH_H_H 18 #include <dynamic-graph/linear-algebra.h> 21 #include <dynamic-graph/all-signals.h> 22 #include <dynamic-graph/entity.h> 29 #if defined(com_freezer_EXPORTS) 30 #define SOTSMOOTHREACH_EXPORT __declspec(dllexport) 32 #define SOTSMOOTHREACH_EXPORT __declspec(dllimport) 35 #define SOTSMOOTHREACH_EXPORT 48 virtual const std::string &
getClassName()
const {
return CLASS_NAME; }
51 dynamicgraph::Vector start, goal;
52 int startTime, lengthTime;
53 bool isStarted, isParam;
57 double smoothFunction(
double x);
64 dynamicgraph::SignalPtr<dynamicgraph::Vector, int> startSIN;
65 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
goalSOUT;
68 dynamicgraph::Vector &goalSOUT_function(dynamicgraph::Vector &goal,
71 void set(
const dynamicgraph::Vector &goal,
const int &length);
72 const dynamicgraph::Vector &getGoal(
void);
73 const int &getLength(
void);
74 const int &getStart(
void);
76 void setSmoothing(
const int &mode,
const double ¶m);
79 virtual void display(std::ostream &os)
const;
80 void initCommands(
void);
Definition: smooth-reach.hh:45
static const std::string CLASS_NAME
Definition: smooth-reach.hh:47
virtual const std::string & getClassName() const
Definition: smooth-reach.hh:48
#define SOTSMOOTHREACH_EXPORT
Definition: smooth-reach.hh:35
virtual ~SmoothReach(void)
Definition: smooth-reach.hh:61
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > goalSOUT
Definition: smooth-reach.hh:65
Definition: abstract-sot-external-interface.hh:17