solver-op-space.cpp File Reference
#include <sot/core/debug.hh>
#include <sot-dyninv/solver-op-space.h>
#include <sot-dyninv/commands-helper.h>
#include <dynamic-graph/factory.h>
#include <boost/foreach.hpp>
#include <dynamic-graph/pool.h>
#include <sot-dyninv/mal-to-eigen.h>
#include <soth/HCOD.hpp>
#include <sot-dyninv/task-dyn-pd.h>
#include <sot/core/feature-point6d.hh>
#include <sstream>
#include <soth/Algebra.hpp>
#include <Eigen/QR>
Include dependency graph for solver-op-space.cpp:

Namespaces

 dynamicgraph
 This class proposes to integrate the acceleration given in input to produce both velocity and acceleration.
 
 dynamicgraph::sot
 
 dynamicgraph::sot::dyninv
 
 dynamicgraph::sot::dyninv::sotOPH
 

Macros

#define VP_DEBUG_MODE   50
 
#define COLS_Q   leftCols( nq )
 
#define COLS_TAU   leftCols( nq+ntau ).rightCols( ntau )
 
#define COLS_F   rightCols( nfs )
 
#define ROWS_FF   topRows( 6 )
 
#define ROWS_ACT   bottomRows( nbDofs )
 
#define COLS(__ri, __rs)   leftCols(__rs).rightCols((__rs)-(__ri))
 
#define ROWS(__ri, __rs)   topRows(__rs).bottomRows((__rs)-(__ri))
 

Functions

 dynamicgraph::sot::dyninv::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SolverOpSpace,"SolverOpSpace")
 
static std::string dynamicgraph::sot::dyninv::signalShortName (const std::string &longName)
 
template<typename D1 , typename D2 >
void dynamicgraph::sot::dyninv::sotOPH::preCross (const Eigen::MatrixBase< D1 > &M, Eigen::MatrixBase< D2 > &Tx)
 
template<typename D1 , typename D2 >
void dynamicgraph::sot::dyninv::sotOPH::computeForceNormalConversion (Eigen::MatrixBase< D1 > &Ci, const Eigen::MatrixBase< D2 > &positions)
 

Macro Definition Documentation

◆ COLS

#define COLS (   __ri,
  __rs 
)    leftCols(__rs).rightCols((__rs)-(__ri))

◆ COLS_F

#define COLS_F   rightCols( nfs )

◆ COLS_Q

#define COLS_Q   leftCols( nq )

◆ COLS_TAU

#define COLS_TAU   leftCols( nq+ntau ).rightCols( ntau )

◆ ROWS

#define ROWS (   __ri,
  __rs 
)    topRows(__rs).bottomRows((__rs)-(__ri))

◆ ROWS_ACT

#define ROWS_ACT   bottomRows( nbDofs )

◆ ROWS_FF

#define ROWS_FF   topRows( 6 )

◆ VP_DEBUG_MODE

#define VP_DEBUG_MODE   50