sot-core
4.11.6
Hierarchical task solver plug-in for dynamic-graph.
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10 #ifndef SOT_CORE_BINARYOP_HH
11 #define SOT_CORE_BINARYOP_HH
18 #include <dynamic-graph/linear-algebra.h>
21 #include <dynamic-graph/all-signals.h>
22 #include <dynamic-graph/entity.h>
30 #include <boost/function.hpp>
39 template <
typename Operator>
class BinaryOp :
public Entity {
41 typedef typename Operator::Tin1 Tin1;
42 typedef typename Operator::Tin2 Tin2;
43 typedef typename Operator::Tout Tout;
64 op.addSpecificCommands(*
this, commandMap);
70 SignalPtr<Tin1, int>
SIN1;
72 SignalTimeDependent<Tout, int>
SOUT;
76 const Tin1 &x1 =
SIN1(time);
77 const Tin2 &x2 =
SIN2(time);
85 #endif // #ifndef SOT_CORE_BINARYOP_HH
BinaryOp(const std::string &name)
Definition: binary-op.hh:54
Definition: abstract-sot-external-interface.hh:17
SignalPtr< Tin2, int > SIN2
Definition: binary-op.hh:71
static std::string getTypeIn1Name(void)
Definition: binary-op.hh:47
std::string getDocString() const
Definition: binary-op.hh:52
Definition: binary-op.hh:39
virtual ~BinaryOp(void)
Definition: binary-op.hh:67
static std::string getTypeOutName(void)
Definition: binary-op.hh:49
virtual const std::string & getClassName() const
Definition: binary-op.hh:51
static const std::string CLASS_NAME
Definition: binary-op.hh:50
static std::string getTypeIn2Name(void)
Definition: binary-op.hh:48
SignalTimeDependent< Tout, int > SOUT
Definition: binary-op.hh:72
SignalPtr< Tin1, int > SIN1
Definition: binary-op.hh:67
Tout & computeOperation(Tout &res, int time)
Definition: binary-op.hh:75