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dynamicgraph::sot::ForceCompensationPlugin Class Reference

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

Inheritance diagram for dynamicgraph::sot::ForceCompensationPlugin:
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Collaboration diagram for dynamicgraph::sot::ForceCompensationPlugin:
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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)
 
- 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
 
void sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
 
void setLoggerVerbosityLevel (LoggerVerbosity lv)
 
LoggerVerbosity getLoggerVerbosityLevel ()
 
bool setTimeSample (double t)
 
double getTimeSample ()
 
bool setStreamPrintPeriod (double t)
 
double getStreamPrintPeriod ()
 
- Public Member Functions inherited from dynamicgraph::sot::ForceCompensation
 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)
 

Public Attributes

bool calibrationStarted
 
dg::SignalPtr
< dynamicgraph::Vector, int > 
torsorSIN
 
dg::SignalPtr< MatrixRotation,
int > 
worldRhandSIN
 
dg::SignalPtr< MatrixRotation,
int > 
handRsensorSIN
 
dg::SignalPtr
< dynamicgraph::Vector, int > 
translationSensorComSIN
 
dg::SignalPtr
< dynamicgraph::Vector, int > 
gravitySIN
 
dg::SignalPtr
< dynamicgraph::Vector, int > 
precompensationSIN
 
dg::SignalPtr
< dynamicgraph::Matrix, int > 
gainSensorSIN
 
dg::SignalPtr
< dynamicgraph::Vector, int > 
deadZoneLimitSIN
 
dg::SignalPtr
< dynamicgraph::Vector, int > 
transSensorJointSIN
 
dg::SignalPtr
< dynamicgraph::Matrix, int > 
inertiaJointSIN
 
dg::SignalPtr
< dynamicgraph::Vector, int > 
velocitySIN
 
dg::SignalPtr
< dynamicgraph::Vector, int > 
accelerationSIN
 
dg::SignalTimeDependent
< MatrixForce, int > 
handXworldSOUT
 
dg::SignalTimeDependent
< MatrixForce, int > 
handVsensorSOUT
 
dg::SignalPtr
< dynamicgraph::Vector, int > 
torsorDeadZoneSIN
 
dg::SignalTimeDependent
< MatrixForce, int > 
sensorXhandSOUT
 
dg::SignalTimeDependent
< dynamicgraph::Vector, int > 
momentumSOUT
 
dg::SignalPtr
< dynamicgraph::Vector, int > 
momentumSIN
 
dg::SignalTimeDependent
< dynamicgraph::Vector, int > 
torsorCompensatedSOUT
 
dg::SignalTimeDependent
< dynamicgraph::Vector, int > 
torsorDeadZoneSOUT
 
dg::SignalTimeDependent
< sotDummyType, int > 
calibrationTrigerSOUT
 
- Public Attributes inherited from dynamicgraph::sot::ForceCompensation
std::list< dynamicgraph::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 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)
 
- 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
 
Logger logger_
 
- Protected Attributes inherited from dynamicgraph::sot::ForceCompensation
bool usingPrecompensation
 

Member Typedef Documentation

Constructor & Destructor Documentation

dynamicgraph::sot::ForceCompensationPlugin::ForceCompensationPlugin ( const std::string &  name)
virtual dynamicgraph::sot::ForceCompensationPlugin::~ForceCompensationPlugin ( void  )
virtual

Member Function Documentation

sotDummyType& dynamicgraph::sot::ForceCompensationPlugin::calibrationTriger ( sotDummyType dummy,
int  time 
)
virtual const std::string& dynamicgraph::sot::ForceCompensationPlugin::getClassName ( void  ) const
inlinevirtual

Reimplemented from dynamicgraph::Entity.

Member Data Documentation

dg::SignalPtr<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::accelerationSIN
bool dynamicgraph::sot::ForceCompensationPlugin::calibrationStarted
dg::SignalTimeDependent<sotDummyType,int> dynamicgraph::sot::ForceCompensationPlugin::calibrationTrigerSOUT
const std::string dynamicgraph::sot::ForceCompensationPlugin::CLASS_NAME
static
dg::SignalPtr<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::deadZoneLimitSIN
dg::SignalPtr<dynamicgraph::Matrix,int> dynamicgraph::sot::ForceCompensationPlugin::gainSensorSIN
dg::SignalPtr<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::gravitySIN
dg::SignalPtr<MatrixRotation,int> dynamicgraph::sot::ForceCompensationPlugin::handRsensorSIN
dg::SignalTimeDependent<MatrixForce,int> dynamicgraph::sot::ForceCompensationPlugin::handVsensorSOUT
dg::SignalTimeDependent<MatrixForce,int> dynamicgraph::sot::ForceCompensationPlugin::handXworldSOUT
dg::SignalPtr<dynamicgraph::Matrix,int> dynamicgraph::sot::ForceCompensationPlugin::inertiaJointSIN
dg::SignalPtr<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::momentumSIN
dg::SignalTimeDependent<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::momentumSOUT
dg::SignalPtr<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::precompensationSIN
dg::SignalTimeDependent<MatrixForce,int> dynamicgraph::sot::ForceCompensationPlugin::sensorXhandSOUT
dg::SignalTimeDependent<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::torsorCompensatedSOUT
dg::SignalPtr<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::torsorDeadZoneSIN
dg::SignalTimeDependent<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::torsorDeadZoneSOUT
dg::SignalPtr<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::torsorSIN
dg::SignalPtr<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::translationSensorComSIN
dg::SignalPtr<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::transSensorJointSIN
dg::SignalPtr<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::velocitySIN
dg::SignalPtr<MatrixRotation,int> dynamicgraph::sot::ForceCompensationPlugin::worldRhandSIN