#include <sot/talos_balance/simple-distribute-wrench.hh>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | SimpleDistributeWrench (const std::string &name) |
Eigen::Vector3d | computeCoP (const dynamicgraph::Vector &wrench, const pinocchio::SE3 &pose) const |
DECLARE_SIGNAL_IN (wrenchDes, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (q, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (rho, double) | |
DECLARE_SIGNAL_IN (phase, int) | |
DECLARE_SIGNAL_INNER (kinematics_computations, int) | |
DECLARE_SIGNAL_INNER (wrenches, int) | |
DECLARE_SIGNAL_OUT (wrenchLeft, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (ankleWrenchLeft, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (surfaceWrenchLeft, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (copLeft, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (wrenchRight, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (ankleWrenchRight, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (surfaceWrenchRight, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (copRight, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (wrenchRef, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (zmpRef, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (emergencyStop, bool) | |
virtual void | display (std::ostream &os) const |
void | init (const std::string &robotName) |
Protected Member Functions | |
void | distributeWrench (const Eigen::VectorXd &wrenchDes, const double rho) |
void | saturateWrench (const Eigen::VectorXd &wrenchDes, const int phase) |
Protected Attributes | |
pinocchio::SE3 | m_ankle_M_sole |
pinocchio::SE3 | m_contactLeft |
pinocchio::SE3 | m_contactRight |
pinocchio::Data | m_data |
Pinocchio robot model. More... | |
bool | m_emergency_stop_triggered |
bool | m_initSucceeded |
pinocchio::FrameIndex | m_left_foot_id |
ankle to sole transformation More... | |
pinocchio::Model | m_model |
true if the entity has been successfully initialized More... | |
pinocchio::FrameIndex | m_right_foot_id |
RobotUtilShrPtr | m_robot_util |
Pinocchio robot data. More... | |
Eigen::Matrix< double, 6, 1 > | m_wrenchLeft |
Eigen::Matrix< double, 6, 1 > | m_wrenchRight |
Definition at line 57 of file simple-distribute-wrench.hh.
SimpleDistributeWrench | ( | const std::string & | name | ) |
Definition at line 62 of file simple-distribute-wrench.cpp.
References SimpleDistributeWrench::init(), INPUT_SIGNALS, and OUTPUT_SIGNALS.
Eigen::Vector3d computeCoP | ( | const dynamicgraph::Vector & | wrench, |
const pinocchio::SE3 & | pose | ||
) | const |
Definition at line 136 of file simple-distribute-wrench.cpp.
References dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), SimpleDistributeWrench::m_ankle_M_sole, SimpleDistributeWrench::m_contactLeft, SimpleDistributeWrench::m_contactRight, SimpleDistributeWrench::m_data, SimpleDistributeWrench::m_initSucceeded, SimpleDistributeWrench::m_left_foot_id, SimpleDistributeWrench::m_model, SimpleDistributeWrench::m_right_foot_id, and PROFILE_SIMPLE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION().
DECLARE_SIGNAL_IN | ( | wrenchDes | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | q | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | rho | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | phase | , |
int | |||
) |
DECLARE_SIGNAL_INNER | ( | kinematics_computations | , |
int | |||
) |
DECLARE_SIGNAL_INNER | ( | wrenches | , |
int | |||
) |
DECLARE_SIGNAL_OUT | ( | wrenchLeft | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | ankleWrenchLeft | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | surfaceWrenchLeft | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | copLeft | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | wrenchRight | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | ankleWrenchRight | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | surfaceWrenchRight | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | copRight | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | wrenchRef | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | zmpRef | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | emergencyStop | , |
bool | |||
) |
|
virtual |
Definition at line 507 of file simple-distribute-wrench.cpp.
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protected |
Definition at line 201 of file simple-distribute-wrench.cpp.
References SimpleDistributeWrench::m_contactLeft, SimpleDistributeWrench::m_contactRight, SimpleDistributeWrench::m_emergency_stop_triggered, SimpleDistributeWrench::m_wrenchLeft, and SimpleDistributeWrench::m_wrenchRight.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION().
void init | ( | const std::string & | robotName | ) |
Definition at line 91 of file simple-distribute-wrench.cpp.
References SimpleDistributeWrench::m_ankle_M_sole, SimpleDistributeWrench::m_data, SimpleDistributeWrench::m_initSucceeded, SimpleDistributeWrench::m_left_foot_id, SimpleDistributeWrench::m_model, SimpleDistributeWrench::m_right_foot_id, and SimpleDistributeWrench::m_robot_util.
Referenced by SimpleDistributeWrench::SimpleDistributeWrench().
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protected |
Definition at line 223 of file simple-distribute-wrench.cpp.
References SimpleDistributeWrench::m_emergency_stop_triggered, SimpleDistributeWrench::m_wrenchLeft, and SimpleDistributeWrench::m_wrenchRight.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION().
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protected |
Definition at line 106 of file simple-distribute-wrench.hh.
Referenced by SimpleDistributeWrench::computeCoP(), and SimpleDistributeWrench::init().
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protected |
Definition at line 111 of file simple-distribute-wrench.hh.
Referenced by SimpleDistributeWrench::computeCoP(), dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and SimpleDistributeWrench::distributeWrench().
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protected |
Definition at line 112 of file simple-distribute-wrench.hh.
Referenced by SimpleDistributeWrench::computeCoP(), dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and SimpleDistributeWrench::distributeWrench().
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protected |
Pinocchio robot model.
Definition at line 102 of file simple-distribute-wrench.hh.
Referenced by SimpleDistributeWrench::computeCoP(), dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and SimpleDistributeWrench::init().
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protected |
Definition at line 120 of file simple-distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), SimpleDistributeWrench::distributeWrench(), and SimpleDistributeWrench::saturateWrench().
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protected |
Definition at line 100 of file simple-distribute-wrench.hh.
Referenced by SimpleDistributeWrench::computeCoP(), dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and SimpleDistributeWrench::init().
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protected |
ankle to sole transformation
Definition at line 108 of file simple-distribute-wrench.hh.
Referenced by SimpleDistributeWrench::computeCoP(), dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and SimpleDistributeWrench::init().
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protected |
true if the entity has been successfully initialized
Definition at line 101 of file simple-distribute-wrench.hh.
Referenced by SimpleDistributeWrench::computeCoP(), and SimpleDistributeWrench::init().
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protected |
Definition at line 109 of file simple-distribute-wrench.hh.
Referenced by SimpleDistributeWrench::computeCoP(), dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and SimpleDistributeWrench::init().
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protected |
Pinocchio robot data.
Definition at line 103 of file simple-distribute-wrench.hh.
Referenced by SimpleDistributeWrench::init().
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protected |
Definition at line 114 of file simple-distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), SimpleDistributeWrench::distributeWrench(), and SimpleDistributeWrench::saturateWrench().
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protected |
Definition at line 115 of file simple-distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), SimpleDistributeWrench::distributeWrench(), and SimpleDistributeWrench::saturateWrench().