#include <sot-dynamic-pinocchio/force-compensation.h>
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static MatrixForce & | computeHandXworld (const MatrixRotation &worldRhand, const dynamicgraph::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 dynamicgraph::Vector &transSensorCom, MatrixForce &res) |
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static dynamicgraph::Vector & | 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) |
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static dynamicgraph::Vector & | crossProduct_V_F (const dynamicgraph::Vector &velocity, const dynamicgraph::Vector &force, dynamicgraph::Vector &res) |
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static dynamicgraph::Vector & | computeMomentum (const dynamicgraph::Vector &velocity, const dynamicgraph::Vector &acceleration, const MatrixForce &sensorXhand, const dynamicgraph::Matrix &inertiaJoint, dynamicgraph::Vector &res) |
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static dynamicgraph::Vector & | computeDeadZone (const dynamicgraph::Vector &torqueInput, const dynamicgraph::Vector &deadZoneLimit, dynamicgraph::Vector &res) |
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dynamicgraph::sot::ForceCompensation::ForceCompensation |
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void |
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void dynamicgraph::sot::ForceCompensation::clearCalibration |
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void |
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std::list<MatrixRotation> dynamicgraph::sot::ForceCompensation::rotationList |
bool dynamicgraph::sot::ForceCompensation::usingPrecompensation |
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protected |