17 #ifndef __sot_talos_balance_distribute_wrench_H__ 18 #define __sot_talos_balance_distribute_wrench_H__ 25 # if defined (position_controller_EXPORTS) 26 # define DISTRIBUTE_WRENCH_EXPORT __declspec(dllexport) 28 # define DISTRIBUTE_WRENCH_EXPORT __declspec(dllimport) 31 # define DISTRIBUTE_WRENCH_EXPORT 39 #include <dynamic-graph/signal-helper.h> 42 #include "boost/assign.hpp" 43 #include <sot/core/robot-utils.hh> 45 #include <pinocchio/multibody/model.hpp> 46 #include <pinocchio/multibody/data.hpp> 48 #include <eigen-quadprog/QuadProg.h> 52 namespace talos_balance {
59 :
public ::dynamicgraph::Entity
61 DYNAMIC_GRAPH_ENTITY_DECL();
64 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
69 void init(
const std::string& robotName);
75 DECLARE_SIGNAL_INNER(kinematics_computations,
int);
76 DECLARE_SIGNAL_INNER(qp_computations,
int);
85 DECLARE_SIGNAL_OUT(emergencyStop,
bool);
89 virtual void display( std::ostream& os )
const;
119 #endif // #ifndef __sot_talos_balance_distribute_wrench_H__ dynamicgraph::Vector m_wrenchLeft
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
pinocchio::Data m_data
Pinocchio robot model.
#define DISTRIBUTE_WRENCH_EXPORT
dynamicgraph::Vector m_wrenchRight
pinocchio::FrameIndex m_left_foot_id
ankle to F/T sensor transformation
pinocchio::FrameIndex m_right_foot_id
RobotUtilShrPtr m_robot_util
Pinocchio robot data.
pinocchio::SE3 m_ankle_M_ftSens
Eigen::QuadProgDense m_qp2
pinocchio::Model m_model
true if the entity has been successfully initialized
bool m_emergency_stop_triggered