Commit d5062fa6 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files
parent 4d0349ba
...@@ -114,9 +114,6 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator ...@@ -114,9 +114,6 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator
public: /* --- PARAMS --- */ public: /* --- PARAMS --- */
void fromSensor(const bool& fs) { fromSensor_ = fs; } void fromSensor(const bool& fs) { fromSensor_ = fs; }
bool fromSensor() const { return fromSensor_; } bool fromSensor() const { return fromSensor_; }
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os );
private: private:
bool fromSensor_; bool fromSensor_;
......
...@@ -67,10 +67,10 @@ ...@@ -67,10 +67,10 @@
#endif #endif
namespace dynamicgraph { namespace dynamicgraph {
namespace sot { namespace sot {
namespace dg = dynamicgraph; namespace dg = dynamicgraph;
namespace command { namespace command {
class SetFile; class SetFile;
class CreateOpPoint; class CreateOpPoint;
...@@ -78,9 +78,9 @@ namespace dynamicgraph { ...@@ -78,9 +78,9 @@ namespace dynamicgraph {
/* --------------------------------------------------------------------- */ /* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */ /* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */ /* --------------------------------------------------------------------- */
/*! @ingroup signals /*! @ingroup signals
\brief This class provides an inverse dynamic model of the robot. \brief This class provides an inverse dynamic model of the robot.
More precisely it wraps the newton euler algorithm implemented More precisely it wraps the newton euler algorithm implemented
...@@ -92,8 +92,8 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio ...@@ -92,8 +92,8 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio
friend class sot::command::SetFile; friend class sot::command::SetFile;
friend class sot::command::CreateOpPoint; friend class sot::command::CreateOpPoint;
// friend class sot::command::InitializeRobot; // friend class sot::command::InitializeRobot;
public: public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
DYNAMIC_GRAPH_ENTITY_DECL(); DYNAMIC_GRAPH_ENTITY_DECL();
...@@ -110,15 +110,15 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio ...@@ -110,15 +110,15 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio
dg::SignalTimeDependent< dg::Matrix,int >& dg::SignalTimeDependent< dg::Matrix,int >&
createJacobianSignal( const std::string& signame, const std::string& ); createJacobianSignal( const std::string& signame, const std::string& );
void destroyJacobianSignal( const std::string& signame ); void destroyJacobianSignal( const std::string& signame );
dg::SignalTimeDependent< MatrixHomogeneous,int >& dg::SignalTimeDependent< MatrixHomogeneous,int >&
createPositionSignal( const std::string&,const std::string& ); createPositionSignal( const std::string&,const std::string& );
void destroyPositionSignal( const std::string& signame ); void destroyPositionSignal( const std::string& signame );
dg::SignalTimeDependent< dg::Vector,int >& dg::SignalTimeDependent< dg::Vector,int >&
createVelocitySignal( const std::string&,const std::string& ); createVelocitySignal( const std::string&,const std::string& );
void destroyVelocitySignal( const std::string& signame ); void destroyVelocitySignal( const std::string& signame );
dg::SignalTimeDependent< dg::Vector,int >& dg::SignalTimeDependent< dg::Vector,int >&
createAccelerationSignal( const std::string&, const std::string& ); createAccelerationSignal( const std::string&, const std::string& );
void destroyAccelerationSignal( const std::string& signame ); void destroyAccelerationSignal( const std::string& signame );
...@@ -137,7 +137,7 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio ...@@ -137,7 +137,7 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio
dg::SignalPtr<dg::Vector,int> freeFlyerVelocitySIN; dg::SignalPtr<dg::Vector,int> freeFlyerVelocitySIN;
dg::SignalPtr<dg::Vector,int> jointAccelerationSIN; dg::SignalPtr<dg::Vector,int> jointAccelerationSIN;
dg::SignalPtr<dg::Vector,int> freeFlyerAccelerationSIN; dg::SignalPtr<dg::Vector,int> freeFlyerAccelerationSIN;
dg::SignalTimeDependent<dg::Vector,int> pinocchioPosSINTERN; dg::SignalTimeDependent<dg::Vector,int> pinocchioPosSINTERN;
dg::SignalTimeDependent<dg::Vector,int> pinocchioVelSINTERN; dg::SignalTimeDependent<dg::Vector,int> pinocchioVelSINTERN;
dg::SignalTimeDependent<dg::Vector,int> pinocchioAccSINTERN; dg::SignalTimeDependent<dg::Vector,int> pinocchioAccSINTERN;
...@@ -151,17 +151,17 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio ...@@ -151,17 +151,17 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio
int& computeForwardKinematics(int& dummy,const int& time ); int& computeForwardKinematics(int& dummy,const int& time );
int& computeCcrba( int& dummy,const int& time ); int& computeCcrba( int& dummy,const int& time );
int& computeJacobians( int& dummy,const int& time ); int& computeJacobians( int& dummy,const int& time );
dg::SignalTimeDependent<dg::Vector,int> zmpSOUT; dg::SignalTimeDependent<dg::Vector,int> zmpSOUT;
dg::SignalTimeDependent<dg::Matrix,int> JcomSOUT; dg::SignalTimeDependent<dg::Matrix,int> JcomSOUT;
dg::SignalTimeDependent<dg::Vector,int> comSOUT; dg::SignalTimeDependent<dg::Vector,int> comSOUT;
dg::SignalTimeDependent<dg::Matrix,int> inertiaSOUT; dg::SignalTimeDependent<dg::Matrix,int> inertiaSOUT;
dg::SignalTimeDependent<dg::Matrix,int>& jacobiansSOUT( const std::string& name ); dg::SignalTimeDependent<dg::Matrix,int>& jacobiansSOUT( const std::string& name );
dg::SignalTimeDependent<MatrixHomogeneous,int>& positionsSOUT( const std::string& name ); dg::SignalTimeDependent<MatrixHomogeneous,int>& positionsSOUT( const std::string& name );
dg::SignalTimeDependent<dg::Vector,int>& velocitiesSOUT( const std::string& name ); dg::SignalTimeDependent<dg::Vector,int>& velocitiesSOUT( const std::string& name );
dg::SignalTimeDependent<dg::Vector,int>& accelerationsSOUT( const std::string& name ); dg::SignalTimeDependent<dg::Vector,int>& accelerationsSOUT( const std::string& name );
dg::SignalTimeDependent<double,int> footHeightSOUT; dg::SignalTimeDependent<double,int> footHeightSOUT;
dg::SignalTimeDependent<dg::Vector,int> upperJlSOUT; dg::SignalTimeDependent<dg::Vector,int> upperJlSOUT;
dg::SignalTimeDependent<dg::Vector,int> lowerJlSOUT; dg::SignalTimeDependent<dg::Vector,int> lowerJlSOUT;
...@@ -184,14 +184,14 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio ...@@ -184,14 +184,14 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio
/* --- MODEL CREATION --- */ /* --- MODEL CREATION --- */
void displayModel() const void displayModel() const
{ assert(m_model); std::cout<<(*m_model)<<std::endl; }; { assert(m_model); std::cout<<(*m_model)<<std::endl; };
void setModel(se3::Model*); void setModel(se3::Model*);
void setData(se3::Data*); void setData(se3::Data*);
/* --- GETTERS --- */ /* --- GETTERS --- */
/// \brief Get joint position lower limits /// \brief Get joint position lower limits
...@@ -228,7 +228,7 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio ...@@ -228,7 +228,7 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio
dg::Matrix& computeGenericEndeffJacobian(const bool isFrame, dg::Matrix& computeGenericEndeffJacobian(const bool isFrame,
const int jointId, const int jointId,
dg::Matrix& res,const int& time ); dg::Matrix& res,const int& time );
MatrixHomogeneous& computeGenericPosition(const bool isFrame, MatrixHomogeneous& computeGenericPosition(const bool isFrame,
const int jointId, const int jointId,
MatrixHomogeneous& res,const int& time ); MatrixHomogeneous& res,const int& time );
dg::Vector& computeGenericVelocity(const int jointId,dg::Vector& res,const int& time ); dg::Vector& computeGenericVelocity(const int jointId,dg::Vector& res,const int& time );
...@@ -246,9 +246,6 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio ...@@ -246,9 +246,6 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio
dg::Vector& computeTorqueDrift( dg::Vector& res,const int& time ); dg::Vector& computeTorqueDrift( dg::Vector& res,const int& time );
public: /* --- PARAMS --- */ public: /* --- PARAMS --- */
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os );
void cmd_createOpPointSignals ( const std::string& sig,const std::string& j ); void cmd_createOpPointSignals ( const std::string& sig,const std::string& j );
void cmd_createJacobianWorldSignal ( const std::string& sig,const std::string& j ); void cmd_createJacobianWorldSignal ( const std::string& sig,const std::string& j );
void cmd_createJacobianEndEffectorSignal( const std::string& sig,const std::string& j ); void cmd_createJacobianEndEffectorSignal( const std::string& sig,const std::string& j );
...@@ -258,11 +255,11 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio ...@@ -258,11 +255,11 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio
private: private:
/// \brief map of joints in construction. /// \brief map of joints in construction.
/// map: jointName -> (jointType,jointPosition (in parent frame), function_ptr to pinocchio Joint) /// map: jointName -> (jointType,jointPosition (in parent frame), function_ptr to pinocchio Joint)
dg::Vector& getPinocchioPos(dg::Vector& q,const int& time); dg::Vector& getPinocchioPos(dg::Vector& q,const int& time);
dg::Vector& getPinocchioVel(dg::Vector& v, const int& time); dg::Vector& getPinocchioVel(dg::Vector& v, const int& time);
dg::Vector& getPinocchioAcc(dg::Vector& a, const int&time); dg::Vector& getPinocchioAcc(dg::Vector& a, const int&time);
//\brief Index list for the first dof of (spherical joints)/ (spherical part of free-flyer joint). //\brief Index list for the first dof of (spherical joints)/ (spherical part of free-flyer joint).
std::vector<int> sphericalJoints; std::vector<int> sphericalJoints;
......
...@@ -43,12 +43,12 @@ ...@@ -43,12 +43,12 @@
/* --- API ------------------------------------------------------------- */ /* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */ /* --------------------------------------------------------------------- */
#if defined (WIN32) #if defined (WIN32)
# if defined (force_compensation_EXPORTS) # if defined (force_compensation_EXPORTS)
# define SOTFORCECOMPENSATION_EXPORT __declspec(dllexport) # define SOTFORCECOMPENSATION_EXPORT __declspec(dllexport)
# else # else
# define SOTFORCECOMPENSATION_EXPORT __declspec(dllimport) # define SOTFORCECOMPENSATION_EXPORT __declspec(dllimport)
# endif # endif
#else #else
# define SOTFORCECOMPENSATION_EXPORT # define SOTFORCECOMPENSATION_EXPORT
#endif #endif
...@@ -70,12 +70,12 @@ namespace dynamicgraph { namespace sot { ...@@ -70,12 +70,12 @@ namespace dynamicgraph { namespace sot {
public: public:
ForceCompensation( void ); ForceCompensation( void );
static MatrixForce& computeHandXworld( static MatrixForce& computeHandXworld(
const MatrixRotation & worldRhand, const MatrixRotation & worldRhand,
const dynamicgraph::Vector & transSensorCom, const dynamicgraph::Vector & transSensorCom,
MatrixForce& res ); MatrixForce& res );
static MatrixForce& computeHandVsensor( const MatrixRotation & sensorRhand, static MatrixForce& computeHandVsensor( const MatrixRotation & sensorRhand,
MatrixForce& res ); MatrixForce& res );
static MatrixForce& computeSensorXhand( const MatrixRotation & sensorRhand, static MatrixForce& computeSensorXhand( const MatrixRotation & sensorRhand,
...@@ -106,7 +106,7 @@ namespace dynamicgraph { namespace sot { ...@@ -106,7 +106,7 @@ namespace dynamicgraph { namespace sot {
static dynamicgraph::Vector& computeDeadZone( const dynamicgraph::Vector& torqueInput, static dynamicgraph::Vector& computeDeadZone( const dynamicgraph::Vector& torqueInput,
const dynamicgraph::Vector& deadZoneLimit, const dynamicgraph::Vector& deadZoneLimit,
dynamicgraph::Vector& res ); dynamicgraph::Vector& res );
public: // CALIBRATION public: // CALIBRATION
std::list<dynamicgraph::Vector> torsorList; std::list<dynamicgraph::Vector> torsorList;
...@@ -115,15 +115,15 @@ namespace dynamicgraph { namespace sot { ...@@ -115,15 +115,15 @@ namespace dynamicgraph { namespace sot {
void clearCalibration( void ); void clearCalibration( void );
void addCalibrationValue( const dynamicgraph::Vector& torsor, void addCalibrationValue( const dynamicgraph::Vector& torsor,
const MatrixRotation & worldRhand ); const MatrixRotation & worldRhand );
dynamicgraph::Vector calibrateTransSensorCom( const dynamicgraph::Vector& gravity, dynamicgraph::Vector calibrateTransSensorCom( const dynamicgraph::Vector& gravity,
const MatrixRotation& handRsensor ); const MatrixRotation& handRsensor );
dynamicgraph::Vector calibrateGravity( const MatrixRotation& handRsensor, dynamicgraph::Vector calibrateGravity( const MatrixRotation& handRsensor,
bool precompensationCalibration = false, bool precompensationCalibration = false,
const MatrixRotation& hand0Rsensor = I3 ); const MatrixRotation& hand0Rsensor = I3 );
}; };
/* --------------------------------------------------------------------- */ /* --------------------------------------------------------------------- */
...@@ -147,50 +147,43 @@ namespace dynamicgraph { namespace sot { ...@@ -147,50 +147,43 @@ namespace dynamicgraph { namespace sot {
public: /* --- SIGNAL --- */ public: /* --- SIGNAL --- */
/* --- INPUTS --- */ /* --- INPUTS --- */
dg::SignalPtr<dynamicgraph::Vector,int> torsorSIN; dg::SignalPtr<dynamicgraph::Vector,int> torsorSIN;
dg::SignalPtr<MatrixRotation,int> worldRhandSIN; dg::SignalPtr<MatrixRotation,int> worldRhandSIN;
/* --- CONSTANTS --- */ /* --- CONSTANTS --- */
dg::SignalPtr<MatrixRotation,int> handRsensorSIN; dg::SignalPtr<MatrixRotation,int> handRsensorSIN;
dg::SignalPtr<dynamicgraph::Vector,int> translationSensorComSIN; dg::SignalPtr<dynamicgraph::Vector,int> translationSensorComSIN;
dg::SignalPtr<dynamicgraph::Vector,int> gravitySIN; dg::SignalPtr<dynamicgraph::Vector,int> gravitySIN;
dg::SignalPtr<dynamicgraph::Vector,int> precompensationSIN; dg::SignalPtr<dynamicgraph::Vector,int> precompensationSIN;
dg::SignalPtr<dynamicgraph::Matrix,int> gainSensorSIN; dg::SignalPtr<dynamicgraph::Matrix,int> gainSensorSIN;
dg::SignalPtr<dynamicgraph::Vector,int> deadZoneLimitSIN; dg::SignalPtr<dynamicgraph::Vector,int> deadZoneLimitSIN;
dg::SignalPtr<dynamicgraph::Vector,int> transSensorJointSIN; dg::SignalPtr<dynamicgraph::Vector,int> transSensorJointSIN;
dg::SignalPtr<dynamicgraph::Matrix,int> inertiaJointSIN; dg::SignalPtr<dynamicgraph::Matrix,int> inertiaJointSIN;
dg::SignalPtr<dynamicgraph::Vector,int> velocitySIN; dg::SignalPtr<dynamicgraph::Vector,int> velocitySIN;
dg::SignalPtr<dynamicgraph::Vector,int> accelerationSIN; dg::SignalPtr<dynamicgraph::Vector,int> accelerationSIN;
/* --- INTERMEDIATE OUTPUTS --- */ /* --- INTERMEDIATE OUTPUTS --- */
dg::SignalTimeDependent<MatrixForce,int> handXworldSOUT; dg::SignalTimeDependent<MatrixForce,int> handXworldSOUT;
dg::SignalTimeDependent<MatrixForce,int> handVsensorSOUT; dg::SignalTimeDependent<MatrixForce,int> handVsensorSOUT;
dg::SignalPtr<dynamicgraph::Vector,int> torsorDeadZoneSIN; dg::SignalPtr<dynamicgraph::Vector,int> torsorDeadZoneSIN;
dg::SignalTimeDependent<MatrixForce,int> sensorXhandSOUT; dg::SignalTimeDependent<MatrixForce,int> sensorXhandSOUT;
//dg::SignalTimeDependent<dynamicgraph::Matrix,int> inertiaSensorSOUT; //dg::SignalTimeDependent<dynamicgraph::Matrix,int> inertiaSensorSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> momentumSOUT; dg::SignalTimeDependent<dynamicgraph::Vector,int> momentumSOUT;
dg::SignalPtr<dynamicgraph::Vector,int> momentumSIN; dg::SignalPtr<dynamicgraph::Vector,int> momentumSIN;
/* --- OUTPUTS --- */ /* --- OUTPUTS --- */
dg::SignalTimeDependent<dynamicgraph::Vector,int> torsorCompensatedSOUT; dg::SignalTimeDependent<dynamicgraph::Vector,int> torsorCompensatedSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> torsorDeadZoneSOUT; dg::SignalTimeDependent<dynamicgraph::Vector,int> torsorDeadZoneSOUT;
typedef int sotDummyType; typedef int sotDummyType;
dg::SignalTimeDependent<sotDummyType,int> calibrationTrigerSOUT; dg::SignalTimeDependent<sotDummyType,int> calibrationTrigerSOUT;
public: /* --- COMMANDLINE --- */ public: /* --- COMMANDLINE --- */
sotDummyType& calibrationTriger( sotDummyType& dummy,int time ); sotDummyType& calibrationTriger( sotDummyType& dummy,int time );
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os );
}; };
......
...@@ -44,12 +44,12 @@ ...@@ -44,12 +44,12 @@
/* --- API ------------------------------------------------------------- */ /* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */ /* --------------------------------------------------------------------- */
#if defined (WIN32) #if defined (WIN32)
# if defined (integrator_force_exact_EXPORTS) # if defined (integrator_force_exact_EXPORTS)
# define SOTINTEGRATORFORCEEXACT_EXPORT __declspec(dllexport) # define SOTINTEGRATORFORCEEXACT_EXPORT __declspec(dllexport)
# else # else
# define SOTINTEGRATORFORCEEXACT_EXPORT __declspec(dllimport) # define SOTINTEGRATORFORCEEXACT_EXPORT __declspec(dllimport)
# endif # endif
#else #else
# define SOTINTEGRATORFORCEEXACT_EXPORT # define SOTINTEGRATORFORCEEXACT_EXPORT
#endif #endif
...@@ -81,12 +81,6 @@ class SOTINTEGRATORFORCEEXACT_EXPORT IntegratorForceExact ...@@ -81,12 +81,6 @@ class SOTINTEGRATORFORCEEXACT_EXPORT IntegratorForceExact
public: /* --- FUNCTIONS --- */ public: /* --- FUNCTIONS --- */
dynamicgraph::Vector& computeVelocityExact( dynamicgraph::Vector& res, dynamicgraph::Vector& computeVelocityExact( dynamicgraph::Vector& res,
const int& time ); const int& time );
/* public: /\* --- PARAMS --- *\/ */
/* virtual void commandLine( const std::string& cmdLine, */
/* std::istringstream& cmdArgs, */
/* std::ostream& os ); */
}; };
......
...@@ -44,12 +44,12 @@ ...@@ -44,12 +44,12 @@
/* --- API ------------------------------------------------------------- */ /* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */ /* --------------------------------------------------------------------- */
#if defined (WIN32) #if defined (WIN32)
# if defined (integrator_force_rk4_EXPORTS) # if defined (integrator_force_rk4_EXPORTS)
# define SOTINTEGRATORFORCERK4_EXPORT __declspec(dllexport) # define SOTINTEGRATORFORCERK4_EXPORT __declspec(dllexport)
# else # else
# define SOTINTEGRATORFORCERK4_EXPORT __declspec(dllimport) # define SOTINTEGRATORFORCERK4_EXPORT __declspec(dllimport)
# endif # endif
#else #else
# define SOTINTEGRATORFORCERK4_EXPORT # define SOTINTEGRATORFORCERK4_EXPORT
#endif #endif
...@@ -81,12 +81,6 @@ class SOTINTEGRATORFORCERK4_EXPORT IntegratorForceRK4 ...@@ -81,12 +81,6 @@ class SOTINTEGRATORFORCERK4_EXPORT IntegratorForceRK4
public: /* --- FUNCTIONS --- */ public: /* --- FUNCTIONS --- */
dynamicgraph::Vector& computeDerivativeRK4( dynamicgraph::Vector& res, dynamicgraph::Vector& computeDerivativeRK4( dynamicgraph::Vector& res,
const int& time ); const int& time );
/* public: /\* --- PARAMS --- *\/ */
/* virtual void commandLine( const std::string& cmdLine, */
/* std::istringstream& cmdArgs, */
/* std::ostream& os ); */
}; };
......
...@@ -43,12 +43,12 @@ ...@@ -43,12 +43,12 @@
/* --- API ------------------------------------------------------------- */ /* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */ /* --------------------------------------------------------------------- */
#if defined (WIN32) #if defined (WIN32)
# if defined (integrator_force_EXPORTS) # if defined (integrator_force_EXPORTS)
# define SOTINTEGRATORFORCE_EXPORT __declspec(dllexport) # define SOTINTEGRATORFORCE_EXPORT __declspec(dllexport)
# else # else
# define SOTINTEGRATORFORCE_EXPORT __declspec(dllimport) # define SOTINTEGRATORFORCE_EXPORT __declspec(dllimport)
# endif # endif
#else #else
# define SOTINTEGRATORFORCE_EXPORT # define SOTINTEGRATORFORCE_EXPORT
#endif #endif
...@@ -80,18 +80,18 @@ class SOTINTEGRATORFORCE_EXPORT IntegratorForce ...@@ -80,18 +80,18 @@ class SOTINTEGRATORFORCE_EXPORT IntegratorForce
public: /* --- SIGNAL --- */ public: /* --- SIGNAL --- */
dg::SignalPtr<dynamicgraph::Vector,int> forceSIN; dg::SignalPtr<dynamicgraph::Vector,int> forceSIN;
dg::SignalPtr<dynamicgraph::Matrix,int> massInverseSIN; dg::SignalPtr<dynamicgraph::Matrix,int> massInverseSIN;
dg::SignalPtr<dynamicgraph::Matrix,int> frictionSIN; dg::SignalPtr<dynamicgraph::Matrix,int> frictionSIN;
/* Memory of the previous iteration. The sig is fed by the previous /* Memory of the previous iteration. The sig is fed by the previous
* computations. */ * computations. */
dg::SignalPtr<dynamicgraph::Vector,int> velocityPrecSIN; dg::SignalPtr<dynamicgraph::Vector,int> velocityPrecSIN;
dg::SignalTimeDependent<dynamicgraph::Vector,int> velocityDerivativeSOUT; dg::SignalTimeDependent<dynamicgraph::Vector,int> velocityDerivativeSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> velocitySOUT; dg::SignalTimeDependent<dynamicgraph::Vector,int> velocitySOUT;
dg::SignalPtr<dynamicgraph::Matrix,int> massSIN; dg::SignalPtr<dynamicgraph::Matrix,int> massSIN;
dg::SignalTimeDependent<dynamicgraph::Matrix,int> massInverseSOUT; dg::SignalTimeDependent<dynamicgraph::Matrix,int> massInverseSOUT;
public: /* --- FUNCTIONS --- */ public: /* --- FUNCTIONS --- */
dynamicgraph::Vector& computeDerivative( dynamicgraph::Vector& res, dynamicgraph::Vector& computeDerivative( dynamicgraph::Vector& res,
...@@ -102,13 +102,6 @@ class SOTINTEGRATORFORCE_EXPORT IntegratorForce ...@@ -102,13 +102,6 @@ class SOTINTEGRATORFORCE_EXPORT IntegratorForce
dynamicgraph::Matrix& computeMassInverse( dynamicgraph::Matrix& res, dynamicgraph::Matrix& computeMassInverse( dynamicgraph::Matrix& res,
const int& time ); const int& time );
public: /* --- PARAMS --- */
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os );
}; };
......
...@@ -42,12 +42,12 @@ ...@@ -42,12 +42,12 @@
/* --- API ------------------------------------------------------------- */ /* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */ /* --------------------------------------------------------------------- */
#if defined (WIN32) #if defined (WIN32)
# if defined (waist_attitude_from_sensor_EXPORTS) # if defined (waist_attitude_from_sensor_EXPORTS)
# define SOTWAISTATTITUDEFROMSENSOR_EXPORT __declspec(dllexport) # define SOTWAISTATTITUDEFROMSENSOR_EXPORT __declspec(dllexport)
# else # else
# define SOTWAISTATTITUDEFROMSENSOR_EXPORT __declspec(dllimport) # define SOTWAISTATTITUDEFROMSENSOR_EXPORT __declspec(dllimport)
# endif # endif
#else #else
# define SOTWAISTATTITUDEFROMSENSOR_EXPORT # define SOTWAISTATTITUDEFROMSENSOR_EXPORT
#endif #endif
...@@ -81,13 +81,6 @@ class SOTWAISTATTITUDEFROMSENSOR_EXPORT WaistAttitudeFromSensor ...@@ -81,13 +81,6 @@ class SOTWAISTATTITUDEFROMSENSOR_EXPORT WaistAttitudeFromSensor
dg::SignalPtr<MatrixHomogeneous,int> positionSensorSIN; dg::SignalPtr<MatrixHomogeneous,int> positionSensorSIN;
dg::SignalTimeDependent<VectorRollPitchYaw,int> attitudeWaistSOUT; dg::SignalTimeDependent<VectorRollPitchYaw,int> attitudeWaistSOUT;
public: /* --- PARAMS --- */
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os );
}; };
...@@ -120,13 +113,6 @@ class SOTWAISTATTITUDEFROMSENSOR_EXPORT WaistPoseFromSensorAndContact ...@@ -120,13 +113,6 @@ class SOTWAISTATTITUDEFROMSENSOR_EXPORT WaistPoseFromSensorAndContact
dg::SignalPtr<MatrixHomogeneous,int> positionContactSIN; dg::SignalPtr<MatrixHomogeneous,int> positionContactSIN;
dg::SignalTimeDependent<dynamicgraph::Vector,int> positionWaistSOUT