doxy-ocra-wbi-plugins/html/SittingDemoClient_8h_source.html

00001 #ifndef SITTINGDEMOCLIENT_H
00002 #define SITTINGDEMOCLIENT_H
00003
00004 #include <ocra-icub/IcubClient.h>
00005 #include <ocra-recipes/TrajectoryThread.h>
00006 #include <ocra-recipes/ControllerClient.h>
00007
00008
00009 class SittingDemoClient : public ocra_recipes::ControllerClient
00010 {
00011 DEFINE_CLASS_POINTER_TYPEDEFS(SittingDemoClient)
00012
00013 public:
00014     SittingDemoClient (std::shared_ptr<ocra::Model> modelPtr, const int loopPeriod);
00015     virtual ~SittingDemoClient ();
00016     virtual bool configure(yarp::os::ResourceFinder &rf);
00017
00018
00019 protected:
00020     virtual bool initialize();
00021     virtual void release();
00022     virtual void loop();
00023
00024 private:
00025
00026     void moveCom();
00027     std::string taskName;
00028     ocra_recipes::TaskConnection::Ptr comTask;
00029     ocra_recipes::TrajectoryThread::Ptr comTrajThread;
00030     double xDisp, yDisp, zDisp;
00031     Eigen::Vector3d currentDesiredPosition;
00032     Eigen::MatrixXd Kp, Kd;
00033 };
00034
00035
00036 #endif // TEST_CLIENT_H