sot-talos-balance  1.7.0
hip-flexibility-compensation.cpp File Reference
#include "sot/talos_balance/hip-flexibility-compensation.hh"
#include <limits>
#include <math.h>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/all-commands.h>
#include <sot/core/stop-watch.hh>
Include dependency graph for hip-flexibility-compensation.cpp:

Go to the source code of this file.

Namespaces

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

Macros

#define INPUT_SIGNALS   m_tauSIN << m_K_rSIN << m_K_lSIN
 
#define JOINT_DES_SIGNALS   m_q_desSIN
 
#define OUTPUT_SIGNALS   m_tau_filtSOUT << m_delta_qSOUT << m_q_cmdSOUT
 
#define PROFILE_HIPFLEXIBILITYCOMPENSATION_DELTAQ_COMPUTATION   "HipFlexibilityCompensation: Angular correction computation "
 
#define PROFILE_HIPFLEXIBILITYCOMPENSATION_QCMD_COMPUTATION   "HipFlexibilityCompensation: Corrected joint configuration computation "
 
#define PROFILE_HIPFLEXIBILITYCOMPENSATION_TAUFILT_COMPUTATION   "HipFlexibilityCompensation: Torque filter computation "
 

Functions

 DEFINE_SIGNAL_OUT_FUNCTION (tau_filt, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (delta_q, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_cmd, dynamicgraph::Vector)
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (HipFlexibilityCompensation, "HipFlexibilityCompensation")
 

Macro Definition Documentation

◆ INPUT_SIGNALS

#define INPUT_SIGNALS   m_tauSIN << m_K_rSIN << m_K_lSIN

◆ JOINT_DES_SIGNALS

#define JOINT_DES_SIGNALS   m_q_desSIN

◆ OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_tau_filtSOUT << m_delta_qSOUT << m_q_cmdSOUT

◆ PROFILE_HIPFLEXIBILITYCOMPENSATION_DELTAQ_COMPUTATION

#define PROFILE_HIPFLEXIBILITYCOMPENSATION_DELTAQ_COMPUTATION   "HipFlexibilityCompensation: Angular correction computation "

◆ PROFILE_HIPFLEXIBILITYCOMPENSATION_QCMD_COMPUTATION

#define PROFILE_HIPFLEXIBILITYCOMPENSATION_QCMD_COMPUTATION   "HipFlexibilityCompensation: Corrected joint configuration computation "

◆ PROFILE_HIPFLEXIBILITYCOMPENSATION_TAUFILT_COMPUTATION

#define PROFILE_HIPFLEXIBILITYCOMPENSATION_TAUFILT_COMPUTATION   "HipFlexibilityCompensation: Torque filter computation "