sot-talos-balance  1.7.0
distribute-wrench.cpp File Reference
#include "sot/talos_balance/distribute-wrench.hh"
#include <iostream>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/all-commands.h>
#include <sot/core/stop-watch.hh>
#include <pinocchio/parsers/urdf.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
#include <pinocchio/algorithm/frames.hpp>
Include dependency graph for distribute-wrench.cpp:

Go to the source code of this file.

Namespaces

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

Macros

#define INNER_SIGNALS   m_kinematics_computations << m_qp_computations
 
#define INPUT_SIGNALS   m_wrenchDesSIN << m_qSIN << m_rhoSIN << m_phaseSIN << m_frictionCoefficientSIN << WEIGHT_SIGNALS
 
#define OUTPUT_SIGNALS   m_wrenchLeftSOUT << m_ankleWrenchLeftSOUT << m_surfaceWrenchLeftSOUT << m_copLeftSOUT << m_wrenchRightSOUT << m_ankleWrenchRightSOUT << m_surfaceWrenchRightSOUT << m_copRightSOUT << m_wrenchRefSOUT << m_zmpRefSOUT << m_emergencyStopSOUT
 
#define PROFILE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS   "DistributeWrench: kinematics computations "
 
#define PROFILE_DISTRIBUTE_WRENCH_QP_COMPUTATIONS   "DistributeWrench: QP problem computations "
 
#define WEIGHT_SIGNALS   m_wSumSIN << m_wNormSIN << m_wRatioSIN << m_wAnkleSIN
 

Functions

 DEFINE_SIGNAL_INNER_FUNCTION (kinematics_computations, int)
 
 DEFINE_SIGNAL_INNER_FUNCTION (qp_computations, int)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmpRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (wrenchRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (wrenchLeft, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (wrenchRight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ankleWrenchLeft, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ankleWrenchRight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (surfaceWrenchLeft, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (surfaceWrenchRight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (copLeft, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (copRight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (emergencyStop, bool)
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DistributeWrench, "DistributeWrench")
 

Macro Definition Documentation

◆ INNER_SIGNALS

#define INNER_SIGNALS   m_kinematics_computations << m_qp_computations

Definition at line 49 of file distribute-wrench.cpp.

◆ INPUT_SIGNALS

#define INPUT_SIGNALS   m_wrenchDesSIN << m_qSIN << m_rhoSIN << m_phaseSIN << m_frictionCoefficientSIN << WEIGHT_SIGNALS

Definition at line 47 of file distribute-wrench.cpp.

Referenced by DistributeWrench::DistributeWrench().

◆ OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_wrenchLeftSOUT << m_ankleWrenchLeftSOUT << m_surfaceWrenchLeftSOUT << m_copLeftSOUT << m_wrenchRightSOUT << m_ankleWrenchRightSOUT << m_surfaceWrenchRightSOUT << m_copRightSOUT << m_wrenchRefSOUT << m_zmpRefSOUT << m_emergencyStopSOUT

Definition at line 51 of file distribute-wrench.cpp.

Referenced by DistributeWrench::DistributeWrench().

◆ PROFILE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS

#define PROFILE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS   "DistributeWrench: kinematics computations "

◆ PROFILE_DISTRIBUTE_WRENCH_QP_COMPUTATIONS

#define PROFILE_DISTRIBUTE_WRENCH_QP_COMPUTATIONS   "DistributeWrench: QP problem computations "

◆ WEIGHT_SIGNALS

#define WEIGHT_SIGNALS   m_wSumSIN << m_wNormSIN << m_wRatioSIN << m_wAnkleSIN

Definition at line 45 of file distribute-wrench.cpp.