#include <sot-dynamic/force-compensation.h>
List of all members.
Public Member Functions |
| ForceCompensation (void) |
void | clearCalibration (void) |
void | addCalibrationValue (const dynamicgraph::Vector &torsor, const MatrixRotation &worldRhand) |
dynamicgraph::Vector | calibrateTransSensorCom (const dynamicgraph::Vector &gravity, const MatrixRotation &handRsensor) |
dynamicgraph::Vector | calibrateGravity (const MatrixRotation &handRsensor, bool precompensationCalibration=false, const MatrixRotation &hand0Rsensor=I3) |
Static Public Member Functions |
static MatrixForce & | computeHandXworld (const MatrixRotation &worldRhand, const dynamicgraph::Vector &transSensorCom, MatrixForce &res) |
static MatrixForce & | computeHandVsensor (const MatrixRotation &sensorRhand, MatrixForce &res) |
static MatrixForce & | computeSensorXhand (const MatrixRotation &sensorRhand, const dynamicgraph::Vector &transSensorCom, MatrixForce &res) |
static dynamicgraph::Vector & | computeTorsorCompensated (const dynamicgraph::Vector &torqueInput, const dynamicgraph::Vector &torquePrecompensation, const dynamicgraph::Vector &gravity, const MatrixForce &handXworld, const MatrixForce &handVsensor, const dynamicgraph::Matrix &gainSensor, const dynamicgraph::Vector &momentum, dynamicgraph::Vector &res) |
static dynamicgraph::Vector & | crossProduct_V_F (const dynamicgraph::Vector &velocity, const dynamicgraph::Vector &force, dynamicgraph::Vector &res) |
static dynamicgraph::Vector & | computeMomentum (const dynamicgraph::Vector &velocity, const dynamicgraph::Vector &acceleration, const MatrixForce &sensorXhand, const dynamicgraph::Matrix &inertiaJoint, dynamicgraph::Vector &res) |
static dynamicgraph::Vector & | computeDeadZone (const dynamicgraph::Vector &torqueInput, const dynamicgraph::Vector &deadZoneLimit, dynamicgraph::Vector &res) |
Public Attributes |
std::list< dynamicgraph::Vector > | torsorList |
std::list< MatrixRotation > | rotationList |
Protected Attributes |
bool | usingPrecompensation |
Constructor & Destructor Documentation
dynamicgraph::sot::ForceCompensation::ForceCompensation |
( |
void |
| ) |
|
Member Function Documentation
void dynamicgraph::sot::ForceCompensation::clearCalibration |
( |
void |
| ) |
|
Member Data Documentation