sot-talos-balance  1.7.0
foot-force-difference-controller.cpp File Reference
#include "sot/talos_balance/foot-force-difference-controller.hh"
#include <sot/core/debug.hh>
#include <sot/core/stop-watch.hh>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/command-bind.h>
#include <dynamic-graph/all-commands.h>
Include dependency graph for foot-force-difference-controller.cpp:

Go to the source code of this file.

Namespaces

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

Macros

#define INNER_SIGNALS   m_dz_ctrlSOUT << m_dz_posSOUT
 
#define INPUT_SIGNALS   m_phaseSIN << m_gainSwingSIN << m_gainStanceSIN << m_gainDoubleSIN << m_dfzAdmittanceSIN << m_vdcFrequencySIN << m_vdcDampingSIN << m_wrenchRightDesSIN << m_wrenchLeftDesSIN << m_wrenchRightSIN << m_wrenchLeftSIN << m_posRightDesSIN << m_posLeftDesSIN << m_posRightSIN << m_posLeftSIN
 
#define OUTPUT_SIGNALS   m_vRightSOUT << m_vLeftSOUT << m_gainRightSOUT << m_gainLeftSOUT
 

Functions

 DEFINE_SIGNAL_INNER_FUNCTION (dz_ctrl, double)
 
 DEFINE_SIGNAL_INNER_FUNCTION (dz_pos, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vRight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vLeft, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (gainRight, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (gainLeft, double)
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FootForceDifferenceController, "FootForceDifferenceController")
 

Macro Definition Documentation

◆ INNER_SIGNALS

#define INNER_SIGNALS   m_dz_ctrlSOUT << m_dz_posSOUT

Definition at line 37 of file foot-force-difference-controller.cpp.

◆ INPUT_SIGNALS

#define INPUT_SIGNALS   m_phaseSIN << m_gainSwingSIN << m_gainStanceSIN << m_gainDoubleSIN << m_dfzAdmittanceSIN << m_vdcFrequencySIN << m_vdcDampingSIN << m_wrenchRightDesSIN << m_wrenchLeftDesSIN << m_wrenchRightSIN << m_wrenchLeftSIN << m_posRightDesSIN << m_posLeftDesSIN << m_posRightSIN << m_posLeftSIN

◆ OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_vRightSOUT << m_vLeftSOUT << m_gainRightSOUT << m_gainLeftSOUT