sot-talos-balance  1.5.0
DistributeWrench Class Reference

#include <sot/talos_balance/distribute-wrench.hh>

Inheritance diagram for DistributeWrench:
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Collaboration diagram for DistributeWrench:
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Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW DistributeWrench (const std::string &name)
 
dynamicgraph::Vector computeCoP (const dynamicgraph::Vector &wrench, const pinocchio::SE3 &pose) const
 
 DECLARE_SIGNAL_IN (wrenchDes, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (q, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_INNER (kinematics_computations, int)
 
 DECLARE_SIGNAL_INNER (qp_computations, int)
 
 DECLARE_SIGNAL_OUT (wrenchLeft, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (copLeft, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (wrenchRight, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (copRight, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (wrenchRef, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (zmpRef, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (emergencyStop, bool)
 
virtual void display (std::ostream &os) const
 
void init (const std::string &robotName)
 

Protected Attributes

pinocchio::SE3 m_ankle_M_ftSens
 
pinocchio::Data m_data
 Pinocchio robot model. More...
 
bool m_emergency_stop_triggered
 
bool m_initSucceeded
 
pinocchio::FrameIndex m_left_foot_id
 ankle to F/T sensor transformation More...
 
pinocchio::Model m_model
 true if the entity has been successfully initialized More...
 
Eigen::QuadProgDense m_qp2
 
pinocchio::FrameIndex m_right_foot_id
 
RobotUtilShrPtr m_robot_util
 Pinocchio robot data. More...
 
dynamicgraph::Vector m_wrenchLeft
 
dynamicgraph::Vector m_wrenchRight
 

Detailed Description

Definition at line 58 of file distribute-wrench.hh.

Constructor & Destructor Documentation

◆ DistributeWrench()

DistributeWrench ( const std::string &  name)

Definition at line 62 of file distribute-wrench.cpp.

References DistributeWrench::init(), INPUT_SIGNALS, and OUTPUT_SIGNALS.

Member Function Documentation

◆ computeCoP()

dynamicgraph::Vector computeCoP ( const dynamicgraph::Vector &  wrench,
const pinocchio::SE3 &  pose 
) const

◆ DECLARE_SIGNAL_IN() [1/2]

DECLARE_SIGNAL_IN ( wrenchDes  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/2]

DECLARE_SIGNAL_IN ( ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_INNER() [1/2]

DECLARE_SIGNAL_INNER ( kinematics_computations  ,
int   
)

◆ DECLARE_SIGNAL_INNER() [2/2]

DECLARE_SIGNAL_INNER ( qp_computations  ,
int   
)

◆ DECLARE_SIGNAL_OUT() [1/7]

DECLARE_SIGNAL_OUT ( wrenchLeft  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [2/7]

DECLARE_SIGNAL_OUT ( copLeft  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [3/7]

DECLARE_SIGNAL_OUT ( wrenchRight  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [4/7]

DECLARE_SIGNAL_OUT ( copRight  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [5/7]

DECLARE_SIGNAL_OUT ( wrenchRef  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [6/7]

DECLARE_SIGNAL_OUT ( zmpRef  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [7/7]

DECLARE_SIGNAL_OUT ( emergencyStop  ,
bool   
)

◆ display()

void display ( std::ostream &  os) const
virtual

Definition at line 380 of file distribute-wrench.cpp.

◆ init()

Member Data Documentation

◆ m_ankle_M_ftSens

pinocchio::SE3 m_ankle_M_ftSens
protected

◆ m_data

◆ m_emergency_stop_triggered

◆ m_initSucceeded

◆ m_left_foot_id

pinocchio::FrameIndex m_left_foot_id
protected

ankle to F/T sensor transformation

Definition at line 101 of file distribute-wrench.hh.

Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and DistributeWrench::init().

◆ m_model

pinocchio::Model m_model
protected

true if the entity has been successfully initialized

Definition at line 95 of file distribute-wrench.hh.

Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and DistributeWrench::init().

◆ m_qp2

Eigen::QuadProgDense m_qp2
protected

◆ m_right_foot_id

pinocchio::FrameIndex m_right_foot_id
protected

◆ m_robot_util

RobotUtilShrPtr m_robot_util
protected

Pinocchio robot data.

Definition at line 97 of file distribute-wrench.hh.

Referenced by DistributeWrench::init().

◆ m_wrenchLeft

◆ m_wrenchRight


The documentation for this class was generated from the following files: