17 #ifndef __sot_talos_balance_simple_distribute_wrench_H__ 18 #define __sot_talos_balance_simple_distribute_wrench_H__ 25 # if defined (position_controller_EXPORTS) 26 # define SIMPLE_DISTRIBUTE_WRENCH_EXPORT __declspec(dllexport) 28 # define SIMPLE_DISTRIBUTE_WRENCH_EXPORT __declspec(dllimport) 31 # define SIMPLE_DISTRIBUTE_WRENCH_EXPORT 39 #include <pinocchio/fwd.hpp> 40 #include <dynamic-graph/signal-helper.h> 43 #include "boost/assign.hpp" 44 #include <sot/core/robot-utils.hh> 46 #include <pinocchio/multibody/model.hpp> 47 #include <pinocchio/multibody/data.hpp> 51 namespace talos_balance {
58 :
public ::dynamicgraph::Entity
60 DYNAMIC_GRAPH_ENTITY_DECL();
63 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
68 void init(
const std::string& robotName);
73 DECLARE_SIGNAL_IN(rho,
double);
74 DECLARE_SIGNAL_IN(phase,
int);
76 DECLARE_SIGNAL_INNER(kinematics_computations,
int);
77 DECLARE_SIGNAL_INNER(wrenches,
int);
88 DECLARE_SIGNAL_OUT(emergencyStop,
bool);
92 virtual void display( std::ostream& os )
const;
94 Eigen::Vector3d computeCoP(
const dynamicgraph::Vector & wrench,
const pinocchio::SE3 & pose)
const;
114 bool distributeWrench(
const Eigen::VectorXd & wrenchDes,
const double rho);
115 bool saturateWrench(
const Eigen::VectorXd & wrenchDes,
const int phase);
126 #endif // #ifndef __sot_talos_balance_simple_distribute_wrench_H__ pinocchio::Model m_model
true if the entity has been successfully initialized
Eigen::Matrix< double, 6, 1 > m_wrenchLeft
Eigen::Matrix< double, 6, 1 > m_wrenchRight
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
pinocchio::Data m_data
Pinocchio robot model.
pinocchio::SE3 m_contactRight
pinocchio::FrameIndex m_right_foot_id
pinocchio::SE3 m_contactLeft
RobotUtilShrPtr m_robot_util
Pinocchio robot data.
pinocchio::FrameIndex m_left_foot_id
ankle to sole transformation
bool m_emergency_stop_triggered
pinocchio::SE3 m_ankle_M_sole
#define SIMPLE_DISTRIBUTE_WRENCH_EXPORT