#include <sot-dynamic/force-compensation.h>
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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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◆ ForceCompensation()
dynamicgraph::sot::ForceCompensation::ForceCompensation |
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void |
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◆ addCalibrationValue()
void dynamicgraph::sot::ForceCompensation::addCalibrationValue |
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const ml::Vector & |
torsor, |
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const MatrixRotation & |
worldRhand |
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) |
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◆ calibrateGravity()
◆ calibrateTransSensorCom()
◆ clearCalibration()
void dynamicgraph::sot::ForceCompensation::clearCalibration |
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void |
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◆ computeDeadZone()
◆ computeHandVsensor()
◆ computeHandXworld()
◆ computeMomentum()
◆ computeSensorXhand()
◆ computeTorsorCompensated()
◆ crossProduct_V_F()
◆ rotationList
std::list<MatrixRotation> dynamicgraph::sot::ForceCompensation::rotationList |
◆ torsorList
std::list<ml::Vector> dynamicgraph::sot::ForceCompensation::torsorList |
◆ usingPrecompensation
bool dynamicgraph::sot::ForceCompensation::usingPrecompensation |
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protected |