sot-talos-balance  1.5.0
DcmController Class Reference

#include <sot/talos_balance/dcm-controller.hh>

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW DcmController (const std::string &name)
 
 DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (Ki, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (decayFactor, double)
 
 DECLARE_SIGNAL_IN (omega, double)
 
 DECLARE_SIGNAL_IN (mass, double)
 
 DECLARE_SIGNAL_IN (com, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (dcm, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (dcmDes, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (zmpDes, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (zmpRef, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (wrenchRef, dynamicgraph::Vector)
 
virtual void display (std::ostream &os) const
 
void init (const double &dt)
 
void resetDcmIntegralError ()
 

Protected Attributes

dynamicgraph::Vector m_dcmIntegralError
 true if the entity has been successfully initialized More...
 
double m_dt
 
bool m_initSucceeded
 

Detailed Description

Definition at line 51 of file dcm-controller.hh.

Constructor & Destructor Documentation

◆ DcmController()

DcmController ( const std::string &  name)

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/9]

DECLARE_SIGNAL_IN ( Kp  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/9]

DECLARE_SIGNAL_IN ( Ki  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [3/9]

DECLARE_SIGNAL_IN ( decayFactor  ,
double   
)

◆ DECLARE_SIGNAL_IN() [4/9]

DECLARE_SIGNAL_IN ( omega  ,
double   
)

◆ DECLARE_SIGNAL_IN() [5/9]

DECLARE_SIGNAL_IN ( mass  ,
double   
)

◆ DECLARE_SIGNAL_IN() [6/9]

DECLARE_SIGNAL_IN ( com  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [7/9]

DECLARE_SIGNAL_IN ( dcm  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [8/9]

DECLARE_SIGNAL_IN ( dcmDes  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [9/9]

DECLARE_SIGNAL_IN ( zmpDes  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [1/2]

DECLARE_SIGNAL_OUT ( zmpRef  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [2/2]

DECLARE_SIGNAL_OUT ( wrenchRef  ,
dynamicgraph::Vector   
)

◆ display()

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

Definition at line 192 of file dcm-controller.cpp.

◆ init()

void init ( const double &  dt)

◆ resetDcmIntegralError()

Member Data Documentation

◆ m_dcmIntegralError

dynamicgraph::Vector m_dcmIntegralError
protected

true if the entity has been successfully initialized

Definition at line 86 of file dcm-controller.hh.

Referenced by DcmController::resetDcmIntegralError().

◆ m_dt

double m_dt
protected

Definition at line 87 of file dcm-controller.hh.

Referenced by DcmController::init(), and DcmController::resetDcmIntegralError().

◆ m_initSucceeded

bool m_initSucceeded
protected

Definition at line 85 of file dcm-controller.hh.

Referenced by DcmController::init(), and DcmController::resetDcmIntegralError().


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