sot-talos-balance  1.7.0
admittance-controller-end-effector.cpp File Reference
#include "sot/talos_balance/admittance-controller-end-effector.hh"
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/all-commands.h>
#include <sot/core/stop-watch.hh>
Include dependency graph for admittance-controller-end-effector.cpp:

Go to the source code of this file.

Namespaces

 dynamicgraph
 
 dynamicgraph::sot
 
 dynamicgraph::sot::talos_balance
 

Macros

#define INNER_SIGNALS   m_w_forceSINNER << m_w_dqSINNER
 
#define INPUT_SIGNALS   m_KpSIN << m_KdSIN << m_dqSaturationSIN << m_forceSIN << m_w_forceDesSIN << m_qSIN
 
#define OUTPUT_SIGNALS   m_dqSOUT
 
#define PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_DQ_COMPUTATION   "AdmittanceControllerEndEffector: dq computation "
 
#define PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_WDQ_COMPUTATION   "AdmittanceControllerEndEffector: w_dq computation "
 
#define PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_WFORCE_COMPUTATION   "AdmittanceControllerEndEffector: w_force computation "
 

Typedefs

typedef AdmittanceControllerEndEffector EntityClassName
 

Functions

 DEFINE_SIGNAL_INNER_FUNCTION (w_force, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (w_dq, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dq, dynamicgraph::Vector)
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (AdmittanceControllerEndEffector, "AdmittanceControllerEndEffector")
 

Macro Definition Documentation

◆ INNER_SIGNALS

#define INNER_SIGNALS   m_w_forceSINNER << m_w_dqSINNER

◆ INPUT_SIGNALS

#define INPUT_SIGNALS   m_KpSIN << m_KdSIN << m_dqSaturationSIN << m_forceSIN << m_w_forceDesSIN << m_qSIN

◆ OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_dqSOUT

◆ PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_DQ_COMPUTATION

#define PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_DQ_COMPUTATION   "AdmittanceControllerEndEffector: dq computation "

◆ PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_WDQ_COMPUTATION

#define PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_WDQ_COMPUTATION   "AdmittanceControllerEndEffector: w_dq computation "

◆ PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_WFORCE_COMPUTATION

#define PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_WFORCE_COMPUTATION   "AdmittanceControllerEndEffector: w_force computation "