9 #ifndef SOT_JOINT_TRAJECTORY_ENTITY_HH 10 #define SOT_JOINT_TRAJECTORY_ENTITY_HH 17 #include <dynamic-graph/linear-algebra.h> 20 #include <dynamic-graph/all-signals.h> 21 #include <dynamic-graph/entity.h> 29 #if defined(joint_trajectory_entity_EXPORTS) 30 #define SOTJOINT_TRAJECTORY_ENTITY_EXPORT __declspec(dllexport) 32 #define SOTJOINT_TRAJECTORY_ENTITY_EXPORT __declspec(dllimport) 35 #define SOTJOINT_TRAJECTORY_ENTITY_EXPORT 49 :
public dynamicgraph::Entity {
51 DYNAMIC_GRAPH_ENTITY_DECL();
57 void loadFile(
const std::string &name);
60 dynamicgraph::Vector &getNextPosition(dynamicgraph::Vector &pos,
64 dynamicgraph::Vector &getNextCoM(dynamicgraph::Vector &com,
const int &time);
67 dynamicgraph::Vector &getNextCoP(dynamicgraph::Vector &cop,
const int &time);
74 unsigned int &getSeqId(
unsigned int &seqid,
const int &time);
78 XYZThetaToMatrixHomogeneous(
const dynamicgraph::Vector &xyztheta);
81 int &OneStepOfUpdate(
int &dummy,
const int &time);
85 virtual void display(std::ostream &os)
const;
106 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
positionSOUT;
109 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
comSOUT;
112 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
zmpSOUT;
115 dynamicgraph::SignalTimeDependent<sot::MatrixHomogeneous, int>
waistSOUT;
118 dynamicgraph::SignalTimeDependent<unsigned int, int>
seqIdSOUT;
126 std::deque<sot::Trajectory>::size_type
index_;
156 void UpdateTrajectory(
const Trajectory &aTrajectory);
159 void setInitTraj(
const std::string &os);
165 #endif // SOT_JOINT_TRAJECTORY_ENTITY_HH
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:74
sot::MatrixHomogeneous waist_
Store the waist position.
Definition: joint-trajectory-entity.hh:141
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > positionSOUT
Publish pose for each evaluation of the graph.
Definition: joint-trajectory-entity.hh:106
unsigned int seqid_
Store the current seq identifier.
Definition: joint-trajectory-entity.hh:144
std::deque< sot::Trajectory > deque_traj_
Queue of trajectories.
Definition: joint-trajectory-entity.hh:150
std::deque< sot::Trajectory >::size_type index_
Index on the point along the trajectory.
Definition: joint-trajectory-entity.hh:126
dynamicgraph::SignalTimeDependent< unsigned int, int > seqIdSOUT
Publish ID of the trajectory currently realized.
Definition: joint-trajectory-entity.hh:118
dynamicgraph::SignalTimeDependent< sot::MatrixHomogeneous, int > waistSOUT
Publish waist for each evaluation of the graph.
Definition: joint-trajectory-entity.hh:115
dynamicgraph::Vector pose_
Store the pos;.
Definition: joint-trajectory-entity.hh:132
virtual ~SotJointTrajectoryEntity()
Definition: joint-trajectory-entity.hh:55
dynamicgraph::SignalPtr< Trajectory, int > trajectorySIN
Read a trajectory.
Definition: joint-trajectory-entity.hh:121
dynamicgraph::SignalTimeDependent< int, int > refresherSINTERN
Definition: joint-trajectory-entity.hh:100
This object handles trajectory of quantities and publish them as signals.
Definition: joint-trajectory-entity.hh:48
sot::Trajectory init_traj_
Initial state of the trajectory.
Definition: joint-trajectory-entity.hh:147
SignalTimeDependent< Dummy, int > OneStepOfUpdateS
Internal signal to trigger one step of the algorithm.
Definition: joint-trajectory-entity.hh:103
timestamp traj_timestamp_
Keep the starting time as an identifier of the trajector.
Definition: joint-trajectory-entity.hh:129
#define SOTJOINT_TRAJECTORY_ENTITY_EXPORT
Definition: joint-trajectory-entity.hh:35
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > comSOUT
Publish com for each evaluation of the graph.
Definition: joint-trajectory-entity.hh:109
Definition: trajectory.hh:85
dynamicgraph::Vector cop_
Store the center of pressure ZMP.
Definition: joint-trajectory-entity.hh:138
Definition: trajectory.hh:179
dynamicgraph::Vector com_
Store the center of mass.
Definition: joint-trajectory-entity.hh:135
Definition: trajectory.hh:117
virtual void display(std::ostream &os) const
int Dummy
Definition: joint-trajectory-entity.hh:95
SOTJOINT_TRAJECTORY_ENTITY_EXPORT friend std::ostream & operator<<(std::ostream &os, const SotJointTrajectoryEntity &r)
Definition: joint-trajectory-entity.hh:87
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > zmpSOUT
Publish zmp for each evaluation of the graph.
Definition: joint-trajectory-entity.hh:112
Definition: abstract-sot-external-interface.hh:17