#include <sot/talos_balance/com-admittance-controller.hh>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ComAdmittanceController (const std::string &name) |
DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (zmp, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (zmpDes, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (ddcomDes, dynamicgraph::Vector) | |
DECLARE_SIGNAL_INNER (stateRef, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (ddcomRef, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (comRef, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (dcomRef, dynamicgraph::Vector) | |
virtual void | display (std::ostream &os) const |
void | init (const double &dt) |
void | setPosition (const dynamicgraph::Vector &) |
void | setState (const dynamicgraph::Vector &, const dynamicgraph::Vector &) |
void | setVelocity (const dynamicgraph::Vector &) |
Protected Attributes | |
double | m_dt |
bool | m_initSucceeded |
dynamicgraph::Vector | m_state |
true if the entity has been successfully initialized More... | |
Definition at line 51 of file com-admittance-controller.hh.
ComAdmittanceController | ( | const std::string & | name | ) |
Definition at line 59 of file com-admittance-controller.cpp.
References ComAdmittanceController::init(), INNER_SIGNALS, INPUT_SIGNALS, OUTPUT_SIGNALS, ComAdmittanceController::setPosition(), ComAdmittanceController::setState(), and ComAdmittanceController::setVelocity().
DECLARE_SIGNAL_IN | ( | Kp | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | zmp | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | zmpDes | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | ddcomDes | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_INNER | ( | stateRef | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | ddcomRef | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | comRef | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | dcomRef | , |
dynamicgraph::Vector | |||
) |
|
virtual |
Definition at line 220 of file com-admittance-controller.cpp.
void init | ( | const double & | dt | ) |
Definition at line 81 of file com-admittance-controller.cpp.
References ComAdmittanceController::m_dt, ComAdmittanceController::m_initSucceeded, and ComAdmittanceController::m_state.
Referenced by ComAdmittanceController::ComAdmittanceController().
void setPosition | ( | const dynamicgraph::Vector & | com | ) |
Definition at line 97 of file com-admittance-controller.cpp.
References ComAdmittanceController::m_state.
Referenced by ComAdmittanceController::ComAdmittanceController(), and ComAdmittanceController::setState().
void setState | ( | const dynamicgraph::Vector & | com, |
const dynamicgraph::Vector & | dcom | ||
) |
Definition at line 107 of file com-admittance-controller.cpp.
References ComAdmittanceController::setPosition(), and ComAdmittanceController::setVelocity().
Referenced by ComAdmittanceController::ComAdmittanceController().
void setVelocity | ( | const dynamicgraph::Vector & | dcom | ) |
Definition at line 102 of file com-admittance-controller.cpp.
References ComAdmittanceController::m_state.
Referenced by ComAdmittanceController::ComAdmittanceController(), and ComAdmittanceController::setState().
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protected |
Definition at line 88 of file com-admittance-controller.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and ComAdmittanceController::init().
|
protected |
Definition at line 86 of file com-admittance-controller.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and ComAdmittanceController::init().
|
protected |
true if the entity has been successfully initialized
Definition at line 87 of file com-admittance-controller.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), ComAdmittanceController::init(), ComAdmittanceController::setPosition(), and ComAdmittanceController::setVelocity().