10 #ifndef __SOT_DERIVATOR_H__ 11 #define __SOT_DERIVATOR_H__ 18 #include <dynamic-graph/linear-algebra.h> 21 #include <dynamic-graph/all-signals.h> 22 #include <dynamic-graph/entity.h> 40 DYNAMIC_GRAPH_ENTITY_DECL();
55 timestep(TIMESTEP_DEFAULT),
56 SIN(NULL,
"sotDerivator<" +
getTypeName() +
">(" + name +
")::input(" +
59 "sotDerivator<" +
getTypeName() +
">(" + name +
")::output(" +
62 ")::input(double)::dt") {
71 dynamicgraph::SignalPtr<T, int>
SIN;
72 dynamicgraph::SignalTimeDependent<T, int>
SOUT;
82 if (timestep != 1.) res *= (1. /
timestep);
100 res.coeffs() +=
memory.coeffs();
114 #endif // #ifndef __SOT_DERIVATOR_H__
Eigen::Quaternion< double > SOT_CORE_EXPORT VectorQuaternion
Definition: matrix-geometry.hh:78
dynamicgraph::SignalPtr< T, int > SIN
Definition: derivator.hh:68
T memory
Definition: derivator.hh:43
static std::string getTypeName(void)
Definition: derivator.hh:49
Definition: derivator.hh:39
Derivator(const std::string &name)
Definition: derivator.hh:51
bool initialized
Definition: derivator.hh:44
static const double TIMESTEP_DEFAULT
Definition: derivator.hh:46
dynamicgraph::Signal< double, int > timestepSIN
Definition: derivator.hh:73
virtual ~Derivator(void)
Definition: derivator.hh:68
double timestep
Definition: derivator.hh:45
dynamicgraph::SignalTimeDependent< T, int > SOUT
Definition: derivator.hh:72
Definition: abstract-sot-external-interface.hh:17
T & computeDerivation(T &res, int time)
Definition: derivator.hh:76