dynamicgraph::sot::ForceCompensationPlugin Class Reference

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

Inheritance diagram for dynamicgraph::sot::ForceCompensationPlugin:
Collaboration diagram for dynamicgraph::sot::ForceCompensationPlugin:

Public Types

typedef int sotDummyType
 
- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * > SignalMap
 
typedef std::map< const std::string, command::Command *> CommandMap_t
 

Public Member Functions

virtual const std::string & getClassName (void) const
 
 ForceCompensationPlugin (const std::string &name)
 
virtual ~ForceCompensationPlugin (void)
 
sotDummyTypecalibrationTriger (sotDummyType &dummy, int time)
 
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 
- Public Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
virtual std::string getDocString () const
 
bool hasSignal (const std::string &signame) const
 
SignalBase< int > & getSignal (const std::string &signalName)
 
const SignalBase< int > & getSignal (const std::string &signalName) const
 
std::ostream & displaySignalList (std::ostream &os) const
 
virtual std::ostream & writeGraph (std::ostream &os) const
 
virtual std::ostream & writeCompletionList (std::ostream &os) const
 
virtual void display (std::ostream &os) const
 
virtual SignalBase< int > * test ()
 
virtual void test2 (SignalBase< int > *)
 
const std::string & getCommandList () const
 
CommandMap_t getNewStyleCommandMap ()
 
command::CommandgetNewStyleCommand (const std::string &cmdName)
 
SignalMap getSignalMap () const
 
- Public Member Functions inherited from dynamicgraph::sot::ForceCompensation
 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)
 

Public Attributes

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
 
- Public Attributes inherited from dynamicgraph::sot::ForceCompensation
std::list< ml::VectortorsorList
 
std::list< MatrixRotationrotationList
 

Static Public Attributes

static const std::string CLASS_NAME
 

Additional Inherited Members

- Static Public Member Functions inherited from dynamicgraph::sot::ForceCompensation
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)
 
- Protected Member Functions inherited from dynamicgraph::Entity
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)
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
- Protected Attributes inherited from dynamicgraph::sot::ForceCompensation
bool usingPrecompensation
 

Member Typedef Documentation

◆ sotDummyType

Constructor & Destructor Documentation

◆ ForceCompensationPlugin()

dynamicgraph::sot::ForceCompensationPlugin::ForceCompensationPlugin ( const std::string &  name)

◆ ~ForceCompensationPlugin()

virtual dynamicgraph::sot::ForceCompensationPlugin::~ForceCompensationPlugin ( void  )
virtual

Member Function Documentation

◆ calibrationTriger()

sotDummyType& dynamicgraph::sot::ForceCompensationPlugin::calibrationTriger ( sotDummyType dummy,
int  time 
)

◆ commandLine()

virtual void dynamicgraph::sot::ForceCompensationPlugin::commandLine ( const std::string &  cmdLine,
std::istringstream &  cmdArgs,
std::ostream &  os 
)
virtual

Reimplemented from dynamicgraph::Entity.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::ForceCompensationPlugin::getClassName ( void  ) const
inlinevirtual

Implements dynamicgraph::Entity.

Member Data Documentation

◆ accelerationSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::accelerationSIN

◆ calibrationStarted

bool dynamicgraph::sot::ForceCompensationPlugin::calibrationStarted

◆ calibrationTrigerSOUT

dg::SignalTimeDependent<sotDummyType,int> dynamicgraph::sot::ForceCompensationPlugin::calibrationTrigerSOUT

◆ CLASS_NAME

const std::string dynamicgraph::sot::ForceCompensationPlugin::CLASS_NAME
static

◆ deadZoneLimitSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::deadZoneLimitSIN

◆ gainSensorSIN

dg::SignalPtr<ml::Matrix,int> dynamicgraph::sot::ForceCompensationPlugin::gainSensorSIN

◆ gravitySIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::gravitySIN

◆ handRsensorSIN

dg::SignalPtr<MatrixRotation,int> dynamicgraph::sot::ForceCompensationPlugin::handRsensorSIN

◆ handVsensorSOUT

dg::SignalTimeDependent<MatrixForce,int> dynamicgraph::sot::ForceCompensationPlugin::handVsensorSOUT

◆ handXworldSOUT

dg::SignalTimeDependent<MatrixForce,int> dynamicgraph::sot::ForceCompensationPlugin::handXworldSOUT

◆ inertiaJointSIN

dg::SignalPtr<ml::Matrix,int> dynamicgraph::sot::ForceCompensationPlugin::inertiaJointSIN

◆ momentumSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::momentumSIN

◆ momentumSOUT

dg::SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::momentumSOUT

◆ precompensationSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::precompensationSIN

◆ sensorXhandSOUT

dg::SignalTimeDependent<MatrixForce,int> dynamicgraph::sot::ForceCompensationPlugin::sensorXhandSOUT

◆ torsorCompensatedSOUT

dg::SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::torsorCompensatedSOUT

◆ torsorDeadZoneSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::torsorDeadZoneSIN

◆ torsorDeadZoneSOUT

dg::SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::torsorDeadZoneSOUT

◆ torsorSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::torsorSIN

◆ translationSensorComSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::translationSensorComSIN

◆ transSensorJointSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::transSensorJointSIN

◆ velocitySIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::velocitySIN

◆ worldRhandSIN

dg::SignalPtr<MatrixRotation,int> dynamicgraph::sot::ForceCompensationPlugin::worldRhandSIN