17 #ifndef __sot_talos_balance_hip_flexibility_compensation_H__ 18 #define __sot_talos_balance_hip_flexibility_compensation_H__ 25 #if defined(hip_flexibility_compensation_EXPORTS) 26 #define HIPFLEXIBILITYCOMPENSATION_EXPORT __declspec(dllexport) 28 #define HIPFLEXIBILITYCOMPENSATION_EXPORT __declspec(dllimport) 31 #define HIPFLEXIBILITYCOMPENSATION_EXPORT 38 #include <dynamic-graph/signal-helper.h> 41 #include <sot/core/robot-utils.hh> 42 #include "boost/assign.hpp" 46 namespace talos_balance {
53 :
public ::dynamicgraph::Entity {
54 DYNAMIC_GRAPH_ENTITY_DECL();
57 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
68 DECLARE_SIGNAL_IN(K_l,
double);
70 DECLARE_SIGNAL_IN(K_r,
double);
84 virtual void display(std::ostream& os)
const;
87 void init(
const double &dt,
const std::string& robotName);
89 void setTorqueLowPassFilterFrequency(
const double& frequency);
91 void setAngularSaturation(
const double& saturation);
93 void setRateLimiter(
const double& rate);
118 #endif // #ifndef __sot_talos_balance_hip_flexibility_compensation_H__ dynamicgraph::Vector m_previous_delta_q
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
double m_dt
true if the entity has been successfully initialized
dynamicgraph::Vector m_previous_tau
double m_torqueLowPassFilterFrequency
RobotUtilShrPtr m_robot_util
#define HIPFLEXIBILITYCOMPENSATION_EXPORT
double m_delta_q_saturation