#include <sot-dynamic/force-compensation.h>
|
bool | calibrationStarted |
|
dg::SignalPtr< ml::Vector, int > | torsorSIN |
|
dg::SignalPtr< MatrixRotation,
int > | worldRhandSIN |
|
dg::SignalPtr< MatrixRotation,
int > | handRsensorSIN |
|
dg::SignalPtr< ml::Vector, int > | translationSensorComSIN |
|
dg::SignalPtr< ml::Vector, int > | gravitySIN |
|
dg::SignalPtr< ml::Vector, int > | precompensationSIN |
|
dg::SignalPtr< ml::Matrix, int > | gainSensorSIN |
|
dg::SignalPtr< ml::Vector, int > | deadZoneLimitSIN |
|
dg::SignalPtr< ml::Vector, int > | transSensorJointSIN |
|
dg::SignalPtr< ml::Matrix, int > | inertiaJointSIN |
|
dg::SignalPtr< ml::Vector, int > | velocitySIN |
|
dg::SignalPtr< ml::Vector, int > | accelerationSIN |
|
dg::SignalTimeDependent
< MatrixForce, int > | handXworldSOUT |
|
dg::SignalTimeDependent
< MatrixForce, int > | handVsensorSOUT |
|
dg::SignalPtr< ml::Vector, int > | torsorDeadZoneSIN |
|
dg::SignalTimeDependent
< MatrixForce, int > | sensorXhandSOUT |
|
dg::SignalTimeDependent
< ml::Vector, int > | momentumSOUT |
|
dg::SignalPtr< ml::Vector, int > | momentumSIN |
|
dg::SignalTimeDependent
< ml::Vector, int > | torsorCompensatedSOUT |
|
dg::SignalTimeDependent
< ml::Vector, int > | torsorDeadZoneSOUT |
|
dg::SignalTimeDependent
< sotDummyType, int > | calibrationTrigerSOUT |
|
std::list< ml::Vector > | torsorList |
|
std::list< MatrixRotation > | rotationList |
|
|
static MatrixForce & | computeHandXworld (const MatrixRotation &worldRhand, const ml::Vector &transSensorCom, MatrixForce &res) |
|
static MatrixForce & | computeHandVsensor (const MatrixRotation &sensorRhand, MatrixForce &res) |
|
static MatrixForce & | computeSensorXhand (const MatrixRotation &sensorRhand, const ml::Vector &transSensorCom, MatrixForce &res) |
|
static ml::Vector & | computeTorsorCompensated (const ml::Vector &torqueInput, const ml::Vector &torquePrecompensation, const ml::Vector &gravity, const MatrixForce &handXworld, const MatrixForce &handVsensor, const ml::Matrix &gainSensor, const ml::Vector &momentum, ml::Vector &res) |
|
static ml::Vector & | crossProduct_V_F (const ml::Vector &velocity, const ml::Vector &force, ml::Vector &res) |
|
static ml::Vector & | computeMomentum (const ml::Vector &velocity, const ml::Vector &acceleration, const MatrixForce &sensorXhand, const ml::Matrix &inertiaJoint, ml::Vector &res) |
|
static ml::Vector & | computeDeadZone (const ml::Vector &torqueInput, const ml::Vector &deadZoneLimit, ml::Vector &res) |
|
void | addCommand (const std::string &name, command::Command *command) |
|
void | entityRegistration () |
|
void | entityDeregistration () |
|
void | signalRegistration (const SignalArray< int > &signals) |
|
void | signalDeregistration (const std::string &name) |
|
std::string | name |
|
SignalMap | signalMap |
|
CommandMap_t | commandMap |
|
bool | usingPrecompensation |
|
dynamicgraph::sot::ForceCompensationPlugin::ForceCompensationPlugin |
( |
const std::string & |
name | ) |
|
virtual dynamicgraph::sot::ForceCompensationPlugin::~ForceCompensationPlugin |
( |
void |
| ) |
|
|
virtual |
virtual void dynamicgraph::sot::ForceCompensationPlugin::commandLine |
( |
const std::string & |
cmdLine, |
|
|
std::istringstream & |
cmdArgs, |
|
|
std::ostream & |
os |
|
) |
| |
|
virtual |
virtual const std::string& dynamicgraph::sot::ForceCompensationPlugin::getClassName |
( |
void |
| ) |
const |
|
inlinevirtual |
bool dynamicgraph::sot::ForceCompensationPlugin::calibrationStarted |
const std::string dynamicgraph::sot::ForceCompensationPlugin::CLASS_NAME |
|
static |