sot-core  4.11.8
Hierarchical task solver plug-in for dynamic-graph.
vector-to-rotation.hh
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1 /*
2  * Copyright 2010,
3  * François Bleibel,
4  * Olivier Stasse,
5  *
6  * CNRS/AIST
7  *
8  */
9 
10 #ifndef __SOTVECTORTOMATRIX_HH
11 #define __SOTVECTORTOMATRIX_HH
12 
13 #include <dynamic-graph/all-signals.h>
14 #include <dynamic-graph/entity.h>
15 
17 
18 /* Matrix */
19 #include <dynamic-graph/linear-algebra.h>
20 
21 /* STD */
22 #include <vector>
23 
24 /* --------------------------------------------------------------------- */
25 /* --- API ------------------------------------------------------------- */
26 /* --------------------------------------------------------------------- */
27 
28 #if defined(WIN32)
29 #if defined(vector_to_rotation_EXPORTS)
30 #define SOTVECTORTOROTATION_EXPORT __declspec(dllexport)
31 #else
32 #define SOTVECTORTOROTATION_EXPORT __declspec(dllimport)
33 #endif
34 #else
35 #define SOTVECTORTOROTATION_EXPORT
36 #endif
37 
38 /* --------------------------------------------------------------------- */
39 /* --- VECTOR ---------------------------------------------------------- */
40 /* --------------------------------------------------------------------- */
41 namespace dynamicgraph {
42 namespace sot {
43 
44 class [[deprecated(
45  "use RPYToMatrix")]] SOTVECTORTOROTATION_EXPORT VectorToRotation
46  : public dynamicgraph::Entity {
47  enum sotAxis { AXIS_X, AXIS_Y, AXIS_Z };
48 
49  unsigned int size;
50  std::vector<sotAxis> axes;
51 
52  public:
53  static const std::string CLASS_NAME;
54  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
55 
56  VectorToRotation(const std::string &name);
57 
58  virtual ~VectorToRotation(void) {}
59 
60  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> SIN;
61  dynamicgraph::SignalTimeDependent<MatrixRotation, int> SOUT;
62 
63  MatrixRotation &computeRotation(const dynamicgraph::Vector &angles,
64  MatrixRotation &res);
65 };
66 
67 } /* namespace sot */
68 } /* namespace dynamicgraph */
69 
70 #endif // #ifndef __SOTVECTORTOMATRIX_HH
Definition: feature-point6d-relative.hh:50
Eigen::Matrix< double, 3, 3 > SOT_CORE_EXPORT MatrixRotation
Definition: matrix-geometry.hh:76
Definition: abstract-sot-external-interface.hh:17