17 #ifndef __sot_talos_balance_foot_force_difference_controller_H__ 18 #define __sot_talos_balance_foot_force_difference_controller_H__ 25 # if defined (foot_force_difference_controller_EXPORTS) 26 # define FOOT_FORCE_DIFFERENCE_CONTROLLER_EXPORT __declspec(dllexport) 28 # define FOOT_FORCE_DIFFERENCE_CONTROLLER_EXPORT __declspec(dllimport) 31 # define FOOT_FORCE_DIFFERENCE_CONTROLLER_EXPORT 39 #include <dynamic-graph/signal-helper.h> 41 #include "boost/assign.hpp" 43 #include <sot/core/matrix-geometry.hh> 44 #include <dynamic-graph/linear-algebra.h> 48 namespace talos_balance {
55 :
public ::dynamicgraph::Entity
57 DYNAMIC_GRAPH_ENTITY_DECL();
60 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
68 DECLARE_SIGNAL_IN(phase,
int);
70 DECLARE_SIGNAL_IN(gainSwing,
double);
71 DECLARE_SIGNAL_IN(gainStance,
double);
72 DECLARE_SIGNAL_IN(gainDouble,
double);
74 DECLARE_SIGNAL_IN(dfzAdmittance,
double);
75 DECLARE_SIGNAL_IN(vdcFrequency,
double);
76 DECLARE_SIGNAL_IN(vdcDamping,
double);
83 DECLARE_SIGNAL_IN(posRightDes, MatrixHomogeneous);
84 DECLARE_SIGNAL_IN(posLeftDes, MatrixHomogeneous);
85 DECLARE_SIGNAL_IN(posRight, MatrixHomogeneous);
86 DECLARE_SIGNAL_IN(posLeft, MatrixHomogeneous);
88 DECLARE_SIGNAL_INNER(dz_ctrl,
double);
89 DECLARE_SIGNAL_INNER(dz_pos,
double);
94 DECLARE_SIGNAL_OUT(gainRight,
double);
95 DECLARE_SIGNAL_OUT(gainLeft,
double);
99 virtual void display( std::ostream& os )
const;
112 #endif // #ifndef __sot_talos_balance_foot_force_difference_controller_H__ Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector