#include <sot-dynamic-pinocchio/force-compensation.h>
Public Types | |
typedef int | sotDummyType |
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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) |
sotDummyType & | calibrationTriger (sotDummyType &dummy, int time) |
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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::Command * | getNewStyleCommand (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 () |
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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 Attributes | |
static const std::string | CLASS_NAME |
dynamicgraph::sot::ForceCompensationPlugin::ForceCompensationPlugin | ( | const std::string & | name | ) |
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virtual |
sotDummyType& dynamicgraph::sot::ForceCompensationPlugin::calibrationTriger | ( | sotDummyType & | dummy, |
int | time | ||
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inlinevirtual |
Reimplemented from dynamicgraph::Entity.
dg::SignalPtr<dynamicgraph::Vector,int> dynamicgraph::sot::ForceCompensationPlugin::accelerationSIN |
bool dynamicgraph::sot::ForceCompensationPlugin::calibrationStarted |
dg::SignalTimeDependent<sotDummyType,int> dynamicgraph::sot::ForceCompensationPlugin::calibrationTrigerSOUT |
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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 |