dg_tools
operator.hpp
1 
9 #pragma once
10 
11 /* --------------------------------------------------------------------- */
12 /* --- INCLUDE --------------------------------------------------------- */
13 /* --------------------------------------------------------------------- */
14 
15 /* Matrix */
16 #include <dynamic-graph/linear-algebra.h>
17 namespace dg = dynamicgraph;
18 
19 /* SOT */
20 #include <dynamic-graph/signal-time-dependent.h>
21 #include <dynamic-graph/signal-ptr.h>
22 #include <dynamic-graph/entity.h>
23 
24 #include <sot/core/matrix-geometry.hh>
25 
26 
27 /* --------------------------------------------------------------------- */
28 /* --- API ------------------------------------------------------------- */
29 /* --------------------------------------------------------------------- */
30 
31 #if defined (WIN32)
32 # if defined (Operator_EXPORTS)
33 # define Operator_EXPORTS __declspec(dllexport)
34 # else
35 # define Operator_EXPORTS __declspec(dllimport)
36 # endif
37 #else
38 # define Operator_EXPORTS
39 #endif
40 
41 namespace dg_tools {
42 
43  /* --------------------------------------------------------------------- */
44  /* --- CLASS ----------------------------------------------------------- */
45  /* --------------------------------------------------------------------- */
46 
50  class Operator_EXPORTS PoseQuaternionToPoseRPY: public dg::Entity
51  {
52  public:
53 
54  PoseQuaternionToPoseRPY( const std::string & name );
55 
56  static const std::string CLASS_NAME;
57  virtual const std::string& getClassName( void ) const {return CLASS_NAME;}
58 
59  dg::SignalPtr<dg::Vector,int> data_inputSIN;
60  dg::SignalTimeDependent<dg::Vector,int> data_outSOUT;
61 
62  dg::Vector& data_out_callback(dg::Vector& history, int time);
63  };
64 
68  class Operator_EXPORTS Sinus: public dg::Entity
69  {
70  public:
71 
72  Sinus( const std::string & name );
73 
74  static const std::string CLASS_NAME;
75  virtual const std::string& getClassName( void ) const {return CLASS_NAME;}
76 
77  dg::SignalPtr<double,int> data_inputSIN;
78  dg::SignalTimeDependent<double,int> data_outSOUT;
79 
80  double& data_out_callback(double& history, int time);
81  };
82 
86  class Operator_EXPORTS Division_of_double: public dg::Entity
87  {
88  public:
89 
90  Division_of_double( const std::string & name );
91 
92  static const std::string CLASS_NAME;
93  virtual const std::string& getClassName( void ) const {return CLASS_NAME;}
94 
95  dg::SignalPtr<double,int> data_input1SIN;
96  dg::SignalPtr<double,int> data_input2SIN;
97  dg::SignalTimeDependent<double,int> data_outSOUT;
98 
99  double& data_out_callback(double& history, int time);
100  };
101 
102 
106  class Operator_EXPORTS VectorIntegrator: public dg::Entity
107  {
108  public:
109 
110  VectorIntegrator( const std::string & name );
111 
112  static const std::string CLASS_NAME;
113  virtual const std::string& getClassName( void ) const {return CLASS_NAME;}
114 
115  bool init_;
116  dg::Vector sum_;
117 
118  dg::SignalPtr<dg::Vector,int> data_inputSIN;
119  dg::SignalTimeDependent<dg::Vector,int> data_outSOUT;
120 
121  dg::Vector& data_out_callback(dg::Vector& out, int time);
122  };
123 
124 } // namespace dg_tools
125 
126 
dg_tools
Definition: history_recorder.hpp:39
dg_tools::PoseQuaternionToPoseRPY
Converts PoseQuaternion into PoseRPY data.
Definition: operator.hpp:50
dg_tools::Division_of_double
Given input data sin1 and sin2, compute y = sin1/sin2.
Definition: operator.hpp:86
dg_tools::Sinus
Given input data x, compute y = sin(x).
Definition: operator.hpp:68
dg_tools::VectorIntegrator
Given input data, sum up the input data over time.
Definition: operator.hpp:106
dynamicgraph
Definition: ComImpedanceController.hpp:31