#include <sot-dynamic/force-compensation.h>
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 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) |
Public Attributes |
std::list< ml::Vector > | torsorList |
std::list< MatrixRotation > | rotationList |
Protected Attributes |
bool | usingPrecompensation |
Constructor & Destructor Documentation
dynamicgraph::sot::ForceCompensation::ForceCompensation |
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void |
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Member Function Documentation
void dynamicgraph::sot::ForceCompensation::addCalibrationValue |
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const ml::Vector & |
torsor, |
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const MatrixRotation & |
worldRhand |
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void dynamicgraph::sot::ForceCompensation::clearCalibration |
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void |
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Member Data Documentation