WB-Toolbox  6.0.1
A Simulink Toolbox for Whole Body Control
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RealTimeSynchronizer.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_REALTIMESYNCHRONIZER_H
10 #define WBT_REALTIMESYNCHRONIZER_H
11 
12 #include <BlockFactory/Core/Block.h>
13 
14 #include <memory>
15 #include <string>
16 
17 namespace wbt {
18  namespace block {
19  class RealTimeSynchronizer;
20  } // namespace block
21 } // namespace wbt
22 
23 namespace blockfactory {
24  namespace core {
25  class BlockInformation;
26  } // namespace core
27 } // namespace blockfactory
28 
41 class wbt::block::RealTimeSynchronizer final : public blockfactory::core::Block
42 {
43 private:
44  class impl;
45  std::unique_ptr<impl> pImpl;
46 
47 public:
50 
51  unsigned numberOfParameters() override;
52  bool parseParameters(blockfactory::core::BlockInformation* blockInfo) override;
53  bool configureSizeAndPorts(blockfactory::core::BlockInformation* blockInfo) override;
54  bool initialize(blockfactory::core::BlockInformation* blockInfo) override;
55  bool terminate(const blockfactory::core::BlockInformation* blockInfo) override;
56  bool output(const blockfactory::core::BlockInformation* blockInfo) override;
57 };
58 
59 #endif // WBT_REALTIMESYNCHRONIZER_H
Definition: RealTimeSynchronizer.cpp:37
The wbt::RealTimeSynchronizer class.
Definition: RealTimeSynchronizer.h:42
bool parseParameters(blockfactory::core::BlockInformation *blockInfo) override
Definition: RealTimeSynchronizer.cpp:59
bool initialize(blockfactory::core::BlockInformation *blockInfo) override
Definition: RealTimeSynchronizer.cpp:95
bool terminate(const blockfactory::core::BlockInformation *blockInfo) override
Definition: RealTimeSynchronizer.cpp:131
unsigned numberOfParameters() override
Definition: RealTimeSynchronizer.cpp:54
std::unique_ptr< impl > pImpl
Definition: RealTimeSynchronizer.h:44
bool output(const blockfactory::core::BlockInformation *blockInfo) override
Definition: RealTimeSynchronizer.cpp:136
RealTimeSynchronizer()
Definition: RealTimeSynchronizer.cpp:48
bool configureSizeAndPorts(blockfactory::core::BlockInformation *blockInfo) override
Definition: RealTimeSynchronizer.cpp:72
Definition: WBBlock.h:16
Definition: Configuration.h:17