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dynamicgraph::sot::ForceCompensation Class Reference

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

Inheritance diagram for dynamicgraph::sot::ForceCompensation:
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Collaboration diagram for dynamicgraph::sot::ForceCompensation:
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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 MatrixForcecomputeHandXworld (const MatrixRotation &worldRhand, const dynamicgraph::Vector &transSensorCom, MatrixForce &res)
 
static MatrixForcecomputeHandVsensor (const MatrixRotation &sensorRhand, MatrixForce &res)
 
static MatrixForcecomputeSensorXhand (const MatrixRotation &sensorRhand, const dynamicgraph::Vector &transSensorCom, MatrixForce &res)
 
static dynamicgraph::VectorcomputeTorsorCompensated (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::VectorcrossProduct_V_F (const dynamicgraph::Vector &velocity, const dynamicgraph::Vector &force, dynamicgraph::Vector &res)
 
static dynamicgraph::VectorcomputeMomentum (const dynamicgraph::Vector &velocity, const dynamicgraph::Vector &acceleration, const MatrixForce &sensorXhand, const dynamicgraph::Matrix &inertiaJoint, dynamicgraph::Vector &res)
 
static dynamicgraph::VectorcomputeDeadZone (const dynamicgraph::Vector &torqueInput, const dynamicgraph::Vector &deadZoneLimit, dynamicgraph::Vector &res)
 

Public Attributes

std::list< dynamicgraph::VectortorsorList
 
std::list< MatrixRotationrotationList
 

Protected Attributes

bool usingPrecompensation
 

Constructor & Destructor Documentation

dynamicgraph::sot::ForceCompensation::ForceCompensation ( void  )

Member Function Documentation

void dynamicgraph::sot::ForceCompensation::addCalibrationValue ( const dynamicgraph::Vector torsor,
const MatrixRotation worldRhand 
)
dynamicgraph::Vector dynamicgraph::sot::ForceCompensation::calibrateGravity ( const MatrixRotation handRsensor,
bool  precompensationCalibration = false,
const MatrixRotation hand0Rsensor = I3 
)
dynamicgraph::Vector dynamicgraph::sot::ForceCompensation::calibrateTransSensorCom ( const dynamicgraph::Vector gravity,
const MatrixRotation handRsensor 
)
void dynamicgraph::sot::ForceCompensation::clearCalibration ( void  )
static dynamicgraph::Vector& dynamicgraph::sot::ForceCompensation::computeDeadZone ( const dynamicgraph::Vector torqueInput,
const dynamicgraph::Vector deadZoneLimit,
dynamicgraph::Vector res 
)
static
static MatrixForce& dynamicgraph::sot::ForceCompensation::computeHandVsensor ( const MatrixRotation sensorRhand,
MatrixForce res 
)
static
static MatrixForce& dynamicgraph::sot::ForceCompensation::computeHandXworld ( const MatrixRotation worldRhand,
const dynamicgraph::Vector transSensorCom,
MatrixForce res 
)
static
static dynamicgraph::Vector& dynamicgraph::sot::ForceCompensation::computeMomentum ( const dynamicgraph::Vector velocity,
const dynamicgraph::Vector acceleration,
const MatrixForce sensorXhand,
const dynamicgraph::Matrix inertiaJoint,
dynamicgraph::Vector res 
)
static
static MatrixForce& dynamicgraph::sot::ForceCompensation::computeSensorXhand ( const MatrixRotation sensorRhand,
const dynamicgraph::Vector transSensorCom,
MatrixForce res 
)
static
static dynamicgraph::Vector& dynamicgraph::sot::ForceCompensation::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
static dynamicgraph::Vector& dynamicgraph::sot::ForceCompensation::crossProduct_V_F ( const dynamicgraph::Vector velocity,
const dynamicgraph::Vector force,
dynamicgraph::Vector res 
)
static

Member Data Documentation

std::list<MatrixRotation> dynamicgraph::sot::ForceCompensation::rotationList
std::list<dynamicgraph::Vector> dynamicgraph::sot::ForceCompensation::torsorList
bool dynamicgraph::sot::ForceCompensation::usingPrecompensation
protected