WB-Toolbox  6.0.1
A Simulink Toolbox for Whole Body Control
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MinimumJerkTrajectoryGenerator.h
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1 /*
2  * Copyright (C) 2018 Istituto Italiano di Tecnologia (IIT)
3  * All rights reserved.
4  *
5  * This software may be modified and distributed under the terms of the
6  * GNU Lesser General Public License v2.1 or any later version.
7  */
8 
9 #ifndef WBT_MINJERKTRAJGENERATOR_H
10 #define WBT_MINJERKTRAJGENERATOR_H
11 
12 #include <BlockFactory/Core/Block.h>
13 
14 #include <memory>
15 #include <string>
16 
17 namespace wbt {
18  namespace block {
19  class MinimumJerkTrajectoryGenerator;
20  } // namespace block
21 } // namespace wbt
22 
23 namespace blockfactory {
24  namespace core {
25  class BlockInformation;
26  } // namespace core
27 } // namespace blockfactory
28 
47 class wbt::block::MinimumJerkTrajectoryGenerator final : public blockfactory::core::Block
48 {
49 private:
50  class impl;
51  std::unique_ptr<impl> pImpl;
52 
53 public:
56 
57  unsigned numberOfParameters() override;
58  bool parseParameters(blockfactory::core::BlockInformation* blockInfo) override;
59  bool configureSizeAndPorts(blockfactory::core::BlockInformation* blockInfo) override;
60  bool initialize(blockfactory::core::BlockInformation* blockInfo) override;
61  bool output(const blockfactory::core::BlockInformation* blockInfo) override;
62 };
63 
64 #endif // WBT_MINJERKTRAJGENERATOR_H
Definition: MinimumJerkTrajectoryGenerator.cpp:63
The wbt::MinimumJerkTrajectoryGenerator class.
Definition: MinimumJerkTrajectoryGenerator.h:48
bool output(const blockfactory::core::BlockInformation *blockInfo) override
Definition: MinimumJerkTrajectoryGenerator.cpp:258
bool initialize(blockfactory::core::BlockInformation *blockInfo) override
Definition: MinimumJerkTrajectoryGenerator.cpp:208
unsigned numberOfParameters() override
Definition: MinimumJerkTrajectoryGenerator.cpp:88
std::unique_ptr< impl > pImpl
Definition: MinimumJerkTrajectoryGenerator.h:50
MinimumJerkTrajectoryGenerator()
Definition: MinimumJerkTrajectoryGenerator.cpp:82
bool configureSizeAndPorts(blockfactory::core::BlockInformation *blockInfo) override
Definition: MinimumJerkTrajectoryGenerator.cpp:114
bool parseParameters(blockfactory::core::BlockInformation *blockInfo) override
Definition: MinimumJerkTrajectoryGenerator.cpp:93
Definition: WBBlock.h:16
Definition: Configuration.h:17