10 #ifndef __SOT_ZMPREFFROMCOM_H__ 11 #define __SOT_ZMPREFFROMCOM_H__ 18 #include <dynamic-graph/linear-algebra.h> 21 #include <dynamic-graph/entity.h> 22 #include <dynamic-graph/signal-ptr.h> 23 #include <dynamic-graph/signal-time-dependent.h> 25 #include <sot/core/matrix-geometry.hh> 35 #if defined(zmpreffromcom_EXPORTS) 36 #define SOTZMPREFFROMCOM_EXPORT __declspec(dllexport) 38 #define SOTZMPREFFROMCOM_EXPORT __declspec(dllimport) 41 #define SOTZMPREFFROMCOM_EXPORT 55 virtual const std::string&
getClassName(
void)
const {
return CLASS_NAME; }
68 dynamicgraph::Vector& computeZmpref(dynamicgraph::Vector& res,
73 dg::SignalPtr<dynamicgraph::Vector, int>
dcomSIN;
74 dg::SignalTimeDependent<dynamicgraph::Vector, int>
zmprefSOUT;
80 #endif // #ifndef __SOT_ZMPREFFROMCOM_H__ dg::SignalPtr< MatrixHomogeneous, int > waistPositionSIN
Definition: zmpreffromcom.h:71
dg::SignalTimeDependent< dynamicgraph::Vector, int > zmprefSOUT
Definition: zmpreffromcom.h:74
static const double DT_DEFAULT
Definition: zmpreffromcom.h:59
virtual const std::string & getClassName(void) const
Definition: zmpreffromcom.h:55
Definition: zmpreffromcom.h:52
double footHeight
Definition: zmpreffromcom.h:60
dg::SignalPtr< dynamicgraph::Vector, int > dcomSIN
Definition: zmpreffromcom.h:73
dg::SignalPtr< dynamicgraph::Vector, int > comPositionSIN
Definition: zmpreffromcom.h:72
double dt
Definition: zmpreffromcom.h:58
static const double FOOT_HEIGHT_DEFAULT
Definition: zmpreffromcom.h:61
static const std::string CLASS_NAME
Definition: zmpreffromcom.h:54
#define SOTZMPREFFROMCOM_EXPORT
Definition: zmpreffromcom.h:41
Definition: angle-estimator.h:43