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