dynamicgraph::sot::ForceCompensation Class Reference

#include <sot-dynamic/force-compensation.h>

Inheritance diagram for dynamicgraph::sot::ForceCompensation:
Collaboration diagram for dynamicgraph::sot::ForceCompensation:

List of all members.

Public Member Functions

 ForceCompensation (void)
void clearCalibration (void)
void addCalibrationValue (const ml::Vector &torsor, const MatrixRotation &worldRhand)
ml::Vector calibrateTransSensorCom (const ml::Vector &gravity, const MatrixRotation &handRsensor)
ml::Vector calibrateGravity (const MatrixRotation &handRsensor, bool precompensationCalibration=false, const MatrixRotation &hand0Rsensor=I3)

Static Public Member Functions

static MatrixForcecomputeHandXworld (const MatrixRotation &worldRhand, const ml::Vector &transSensorCom, MatrixForce &res)
static MatrixForcecomputeHandVsensor (const MatrixRotation &sensorRhand, MatrixForce &res)
static MatrixForcecomputeSensorXhand (const MatrixRotation &sensorRhand, const ml::Vector &transSensorCom, MatrixForce &res)
static ml::VectorcomputeTorsorCompensated (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::VectorcrossProduct_V_F (const ml::Vector &velocity, const ml::Vector &force, ml::Vector &res)
static ml::VectorcomputeMomentum (const ml::Vector &velocity, const ml::Vector &acceleration, const MatrixForce &sensorXhand, const ml::Matrix &inertiaJoint, ml::Vector &res)
static ml::VectorcomputeDeadZone (const ml::Vector &torqueInput, const ml::Vector &deadZoneLimit, ml::Vector &res)

Public Attributes

std::list< ml::VectortorsorList
std::list< MatrixRotationrotationList

Protected Attributes

bool usingPrecompensation

Constructor & Destructor Documentation

dynamicgraph::sot::ForceCompensation::ForceCompensation ( void  )

Member Function Documentation

void dynamicgraph::sot::ForceCompensation::addCalibrationValue ( const ml::Vector torsor,
const MatrixRotation worldRhand 
)
ml::Vector dynamicgraph::sot::ForceCompensation::calibrateGravity ( const MatrixRotation handRsensor,
bool  precompensationCalibration = false,
const MatrixRotation hand0Rsensor = I3 
)
ml::Vector dynamicgraph::sot::ForceCompensation::calibrateTransSensorCom ( const ml::Vector gravity,
const MatrixRotation handRsensor 
)
void dynamicgraph::sot::ForceCompensation::clearCalibration ( void  )
static ml::Vector& dynamicgraph::sot::ForceCompensation::computeDeadZone ( const ml::Vector torqueInput,
const ml::Vector deadZoneLimit,
ml::Vector res 
) [static]
static MatrixForce& dynamicgraph::sot::ForceCompensation::computeHandVsensor ( const MatrixRotation sensorRhand,
MatrixForce res 
) [static]
static MatrixForce& dynamicgraph::sot::ForceCompensation::computeHandXworld ( const MatrixRotation worldRhand,
const ml::Vector transSensorCom,
MatrixForce res 
) [static]
static ml::Vector& dynamicgraph::sot::ForceCompensation::computeMomentum ( const ml::Vector velocity,
const ml::Vector acceleration,
const MatrixForce sensorXhand,
const ml::Matrix inertiaJoint,
ml::Vector res 
) [static]
static MatrixForce& dynamicgraph::sot::ForceCompensation::computeSensorXhand ( const MatrixRotation sensorRhand,
const ml::Vector transSensorCom,
MatrixForce res 
) [static]
static ml::Vector& dynamicgraph::sot::ForceCompensation::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]
static ml::Vector& dynamicgraph::sot::ForceCompensation::crossProduct_V_F ( const ml::Vector velocity,
const ml::Vector force,
ml::Vector res 
) [static]

Member Data Documentation