#include <sot/talos_balance/simple-admittance-controller.hh>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | SimpleAdmittanceController (const std::string &name) |
DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (state, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (tau, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (tauDes, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (dqRef, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (qRef, dynamicgraph::Vector) | |
virtual void | display (std::ostream &os) const |
void | init (const double &dt, const unsigned &n) |
void | setPosition (const dynamicgraph::Vector &position) |
Public Attributes | |
bool | m_useState |
Protected Attributes | |
double | m_dt |
bool | m_initSucceeded |
dynamicgraph::Vector | m_Kp |
true if the entity has been successfully initialized More... | |
int | m_n |
dynamicgraph::Vector | m_q |
Definition at line 51 of file simple-admittance-controller.hh.
SimpleAdmittanceController | ( | const std::string & | name | ) |
Definition at line 57 of file simple-admittance-controller.cpp.
References SimpleAdmittanceController::init(), INPUT_SIGNALS, SimpleAdmittanceController::m_useState, OUTPUT_SIGNALS, and SimpleAdmittanceController::setPosition().
DECLARE_SIGNAL_IN | ( | Kp | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | state | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | tau | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | tauDes | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | dqRef | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | qRef | , |
dynamicgraph::Vector | |||
) |
|
virtual |
Definition at line 175 of file simple-admittance-controller.cpp.
void init | ( | const double & | dt, |
const unsigned & | n | ||
) |
Definition at line 77 of file simple-admittance-controller.cpp.
References SimpleAdmittanceController::m_dt, SimpleAdmittanceController::m_initSucceeded, SimpleAdmittanceController::m_n, and SimpleAdmittanceController::m_q.
Referenced by SimpleAdmittanceController::SimpleAdmittanceController().
void setPosition | ( | const dynamicgraph::Vector & | position | ) |
Definition at line 94 of file simple-admittance-controller.cpp.
References dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), SimpleAdmittanceController::m_initSucceeded, SimpleAdmittanceController::m_n, SimpleAdmittanceController::m_q, and PROFILE_SIMPLE_ADMITTANCECONTROLLER_DQREF_COMPUTATION.
Referenced by SimpleAdmittanceController::SimpleAdmittanceController().
|
protected |
Definition at line 85 of file simple-admittance-controller.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and SimpleAdmittanceController::init().
|
protected |
Definition at line 82 of file simple-admittance-controller.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), SimpleAdmittanceController::init(), and SimpleAdmittanceController::setPosition().
|
protected |
true if the entity has been successfully initialized
Definition at line 83 of file simple-admittance-controller.hh.
|
protected |
Definition at line 81 of file simple-admittance-controller.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), SimpleAdmittanceController::init(), and SimpleAdmittanceController::setPosition().
|
protected |
Definition at line 84 of file simple-admittance-controller.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), SimpleAdmittanceController::init(), and SimpleAdmittanceController::setPosition().
bool m_useState |
Definition at line 79 of file simple-admittance-controller.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and SimpleAdmittanceController::SimpleAdmittanceController().