HuMAnS: TaskFunctionControl.h Source File

00001 /* Copyright (C) INRIA 1999-2005
00002 ** 
00003 ** This program is free software; you can redistribute it and/or modify it
00004 ** under the terms of the GNU General Public License version 2 as published
00005 ** by the Free Software Foundation.
00006 ** 
00007 ** This program is distributed in the hope that it will be useful, but
00008 ** WITHOUT ANY WARRANTY; without even the implied warranty of
00009 ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
00010 ** Public License for more details.
00011 ** 
00012 ** You should have received a copy of the GNU General Public License along
00013 ** with this program; if not, write to the Free Software Foundation, Inc.,
00014 ** 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
00015 **
00016 */
00026 #ifndef __taskfunctioncontrol_h
00027 #define __taskfunctioncontrol_h
00028 
00029 #ifdef WINDOWS
00030 #define extern __declspec (dllexport)
00031 #endif
00032 
00033 // definitions generales
00034 #define SET_EVENT 1
00035 #define NO_EVENT  0
00036 
00037 // nombre de moteurs
00038 #define NMOT 15
00039 
00040 // nombre de rapports de reduction
00041 #define NRATIO 21
00042 
00043 
00044 #include "OurLibLapack.h"
00045 
00046 #include "../ActuatorsGeometry/utilBip.h"
00047 #include "../../../LagrangianModel/Bip/LagrangianModel.h"
00048 #include "ObserverGeometry/ObserverGeometry.h"
00049 #include "TaskFunctionDefinition/TaskFunctionDefinition.h"
00050 
00062 extern int
00063 Observer(const double q1[NMOT],
00064                 const double feet[6],
00065                 const double delta_t[1],
00066                 double q[NDOF],
00067                 double qdot[NDOF]);
00068 
00069 
00086 extern int
00087 TaskControl(double q[NDOF],
00088             double qdot[NDOF],
00089             const double feet[6],
00090             const double s_desiree[NDOF],
00091             const double sdot_desiree[NDOF],
00092             const double sddot_desiree[NDOF],
00093             const int contacts_desires[1],
00094             const double pourcentage[1],
00095             double commande[NMOT],
00096             double qddot[NDOF]);
00097 
00098 
00099 
00116 extern void
00117 Trajectory(const double t[1],
00118            const double positions[],
00119            const double infos[],
00120            const int nb_positions[1],
00121            double position[NDOF],
00122            double vitesse[NDOF],
00123            double acceleration[NDOF],
00124            int contacts[1],
00125            double pourcentage[1]);
00126 
00127 
00136 extern void
00137 ecriture_traj3(const char nom[],
00138                const double positions[],
00139                const double infos[],
00140                const int nb_positions[1]);
00141 
00142 
00153 extern int
00154 lecture_traj3(const char nom[],
00155               double positions[],
00156               double infos[],
00157               int nb_positions[1],
00158               const int max_nb_positions[1]);
00159 
00160 #endif