#include <sot/talos_balance/distribute-wrench.hh>
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 |
Definition at line 58 of file distribute-wrench.hh.
DistributeWrench | ( | const std::string & | name | ) |
Definition at line 62 of file distribute-wrench.cpp.
References DistributeWrench::init(), INPUT_SIGNALS, and OUTPUT_SIGNALS.
dynamicgraph::Vector computeCoP | ( | const dynamicgraph::Vector & | wrench, |
const pinocchio::SE3 & | pose | ||
) | const |
Definition at line 133 of file distribute-wrench.cpp.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION().
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 | |||
) |
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virtual |
Definition at line 380 of file distribute-wrench.cpp.
void init | ( | const std::string & | robotName | ) |
Definition at line 85 of file distribute-wrench.cpp.
References DistributeWrench::m_ankle_M_ftSens, DistributeWrench::m_data, DistributeWrench::m_initSucceeded, DistributeWrench::m_left_foot_id, DistributeWrench::m_model, DistributeWrench::m_qp2, DistributeWrench::m_right_foot_id, and DistributeWrench::m_robot_util.
Referenced by DistributeWrench::DistributeWrench().
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protected |
Definition at line 99 of file distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and DistributeWrench::init().
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protected |
Pinocchio robot model.
Definition at line 96 of file distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and DistributeWrench::init().
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protected |
Definition at line 110 of file distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION().
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protected |
Definition at line 94 of file distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and DistributeWrench::init().
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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().
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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().
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protected |
Definition at line 108 of file distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and DistributeWrench::init().
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protected |
Definition at line 102 of file distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and DistributeWrench::init().
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protected |
Pinocchio robot data.
Definition at line 97 of file distribute-wrench.hh.
Referenced by DistributeWrench::init().
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protected |
Definition at line 104 of file distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION().
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protected |
Definition at line 105 of file distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION().