#include "sot/talos_balance/simple-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>
Go to the source code of this file.
Namespaces | |
dynamicgraph | |
dynamicgraph::sot | |
dynamicgraph::sot::talos_balance | |
Macros | |
#define | INNER_SIGNALS m_kinematics_computations << m_wrenches |
#define | INPUT_SIGNALS m_wrenchDesSIN << m_qSIN << m_rhoSIN << m_phaseSIN |
#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_SIMPLE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS "SimpleDistributeWrench: kinematics computations " |
#define | PROFILE_SIMPLE_DISTRIBUTE_WRENCH_WRENCHES_COMPUTATIONS "SimpleDistributeWrench: wrenches computations " |
Functions | |
DEFINE_SIGNAL_INNER_FUNCTION (wrenches, int) | |
DEFINE_SIGNAL_INNER_FUNCTION (kinematics_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 (SimpleDistributeWrench, "SimpleDistributeWrench") | |
#define INNER_SIGNALS m_kinematics_computations << m_wrenches |
Definition at line 47 of file simple-distribute-wrench.cpp.
#define INPUT_SIGNALS m_wrenchDesSIN << m_qSIN << m_rhoSIN << m_phaseSIN |
Definition at line 45 of file simple-distribute-wrench.cpp.
Referenced by SimpleDistributeWrench::SimpleDistributeWrench().
#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 49 of file simple-distribute-wrench.cpp.
Referenced by SimpleDistributeWrench::SimpleDistributeWrench().
#define PROFILE_SIMPLE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS "SimpleDistributeWrench: kinematics computations " |
Definition at line 42 of file simple-distribute-wrench.cpp.
Referenced by SimpleDistributeWrench::computeCoP().
#define PROFILE_SIMPLE_DISTRIBUTE_WRENCH_WRENCHES_COMPUTATIONS "SimpleDistributeWrench: wrenches computations " |
Definition at line 43 of file simple-distribute-wrench.cpp.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION().