Namespaces | |
math | |
robots | |
Typedefs | |
typedef AdmittanceControllerEndEffector | EntityClassName |
typedef TalosControlManager EntityClassName |
Define EntityClassName here rather than in the header file so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION.
Definition at line 45 of file admittance-controller-end-effector.cpp.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | tauSum | , |
dynamicgraph::Vector | |||
) |
Definition at line 87 of file coupled-admittance-controller.cpp.
References PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUSUM_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | dz_ctrl | , |
double | |||
) |
Definition at line 92 of file foot-force-difference-controller.cpp.
References FootForceDifferenceController::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | tauDiff | , |
dynamicgraph::Vector | |||
) |
Definition at line 101 of file coupled-admittance-controller.cpp.
References PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDIFF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | rf | , |
MatrixHomogeneous | |||
) |
Definition at line 111 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | tauDesSum | , |
dynamicgraph::Vector | |||
) |
Definition at line 115 of file coupled-admittance-controller.cpp.
References PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESSUM_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | dz_pos | , |
double | |||
) |
Definition at line 127 of file foot-force-difference-controller.cpp.
References FootForceDifferenceController::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | tauDesDiff | , |
dynamicgraph::Vector | |||
) |
Definition at line 129 of file coupled-admittance-controller.cpp.
References PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESDIFF_COMPUTATION, and PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDIFF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | rightWeight | , |
dynamicgraph::Vector | |||
) |
Definition at line 130 of file ft-wrist-calibration.cpp.
References FtWristCalibration::m_data, FtWristCalibration::m_initSucceeded, FtWristCalibration::m_model, FtWristCalibration::m_rightHandWeight, FtWristCalibration::m_rightLeverArm, and FtWristCalibration::m_rightSensorId.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | dqRefSum | , |
dynamicgraph::Vector | |||
) |
Definition at line 143 of file coupled-admittance-controller.cpp.
References PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFSUM_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | stateRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 146 of file com-admittance-controller.cpp.
References ComAdmittanceController::m_dt, ComAdmittanceController::m_initSucceeded, ComAdmittanceController::m_state, and PROFILE_COMADMITTANCECONTROLLER_STATEREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | w_force | , |
dynamicgraph::Vector | |||
) |
Definition at line 148 of file admittance-controller-end-effector.cpp.
References AdmittanceControllerEndEffector::m_data, AdmittanceControllerEndEffector::m_initSucceeded, AdmittanceControllerEndEffector::m_model, AdmittanceControllerEndEffector::m_n, AdmittanceControllerEndEffector::m_sensorFrameId, and PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_WFORCE_COMPUTATION.
Referenced by SimpleDistributeWrench::computeCoP().
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | dqRefDiff | , |
dynamicgraph::Vector | |||
) |
Definition at line 158 of file coupled-admittance-controller.cpp.
References PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFDIFF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | leftWeight | , |
dynamicgraph::Vector | |||
) |
Definition at line 162 of file ft-wrist-calibration.cpp.
References FtWristCalibration::m_data, FtWristCalibration::m_initSucceeded, FtWristCalibration::m_leftHandWeight, FtWristCalibration::m_leftLeverArm, FtWristCalibration::m_leftSensorId, and FtWristCalibration::m_model.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | w_dq | , |
dynamicgraph::Vector | |||
) |
Definition at line 176 of file admittance-controller-end-effector.cpp.
References AdmittanceControllerEndEffector::m_dt, AdmittanceControllerEndEffector::m_initSucceeded, AdmittanceControllerEndEffector::m_n, AdmittanceControllerEndEffector::m_w_dq, and PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_WDQ_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | wrenches | , |
int | |||
) |
Definition at line 240 of file simple-distribute-wrench.cpp.
References SimpleDistributeWrench::computeCoP(), DEFINE_SIGNAL_OUT_FUNCTION(), SimpleDistributeWrench::distributeWrench(), SimpleDistributeWrench::m_contactLeft, SimpleDistributeWrench::m_contactRight, SimpleDistributeWrench::m_data, SimpleDistributeWrench::m_emergency_stop_triggered, SimpleDistributeWrench::m_initSucceeded, SimpleDistributeWrench::m_left_foot_id, SimpleDistributeWrench::m_right_foot_id, SimpleDistributeWrench::m_wrenchLeft, SimpleDistributeWrench::m_wrenchRight, PROFILE_SIMPLE_DISTRIBUTE_WRENCH_WRENCHES_COMPUTATIONS, and SimpleDistributeWrench::saturateWrench().
DEFINE_SIGNAL_INNER_FUNCTION | ( | kinematics_computations | , |
int | |||
) |
Definition at line 257 of file distribute-wrench.cpp.
References DistributeWrench::m_ankle_M_sole, DistributeWrench::m_contactLeft, DistributeWrench::m_contactRight, DistributeWrench::m_data, DistributeWrench::m_initSucceeded, DistributeWrench::m_left_foot_id, DistributeWrench::m_model, DistributeWrench::m_right_foot_id, and PROFILE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | qp_computations | , |
int | |||
) |
Definition at line 415 of file distribute-wrench.cpp.
References DistributeWrench::distributeWrench(), DistributeWrench::m_emergency_stop_triggered, DistributeWrench::m_initSucceeded, DistributeWrench::m_wAnkle, DistributeWrench::m_wNorm, DistributeWrench::m_wRatio, DistributeWrench::m_wSum, PROFILE_DISTRIBUTE_WRENCH_QP_COMPUTATIONS, and DistributeWrench::saturateWrench().
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | kinematics_computations | , |
dynamicgraph::Vector | |||
) |
Definition at line 637 of file talos-base-estimator.cpp.
References DEFINE_SIGNAL_OUT_FUNCTION(), TalosBaseEstimator::kinematics_estimation(), TalosBaseEstimator::m_data, TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_K_lf, TalosBaseEstimator::m_K_rf, TalosBaseEstimator::m_left_foot_id, TalosBaseEstimator::m_left_foot_is_stable, TalosBaseEstimator::m_model, TalosBaseEstimator::m_oMff_lf, TalosBaseEstimator::m_oMff_rf, TalosBaseEstimator::m_oMlfs, TalosBaseEstimator::m_oMlfs_default_ref, TalosBaseEstimator::m_oMlfs_xyzquat, TalosBaseEstimator::m_oMrfs, TalosBaseEstimator::m_oMrfs_default_ref, TalosBaseEstimator::m_oMrfs_xyzquat, TalosBaseEstimator::m_oRff, TalosBaseEstimator::m_oRtorso, TalosBaseEstimator::m_q_pin, TalosBaseEstimator::m_q_sot, TalosBaseEstimator::m_reset_foot_pos, TalosBaseEstimator::m_right_foot_id, TalosBaseEstimator::m_right_foot_is_stable, TalosBaseEstimator::m_robot_util, TalosBaseEstimator::m_torso_id, TalosBaseEstimator::m_torsoMimu, TalosBaseEstimator::m_v_pin, TalosBaseEstimator::m_w_imu, matrixToRpy(), PROFILE_BASE_KINEMATICS_COMPUTATION, PROFILE_BASE_POSITION_ESTIMATION, TalosBaseEstimator::reset_foot_positions_impl(), rpyToMatrix(), se3Interp(), and wEulerMean().
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | sout | , |
bool | |||
) |
Definition at line 63 of file boolean-identity.cpp.
DEFINE_SIGNAL_OUT_FUNCTION | ( | sout | , |
int | |||
) |
Definition at line 63 of file int-identity.cpp.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | quaternion | , |
dynamicgraph::Vector | |||
) |
Definition at line 69 of file euler-to-quat.cpp.
References PROFILE_EULERTOQUAT_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | sout | , |
MatrixHomogeneous | |||
) |
Definition at line 69 of file pose-quaternion-to-matrix-homo.cpp.
References PROFILE_POSEQUATERNIONTOMATRIXHOMO_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | euler | , |
dynamicgraph::Vector | |||
) |
Definition at line 69 of file quat-to-euler.cpp.
References PROFILE_QUATTOEULER_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | yOut | , |
dynamicgraph::Vector | |||
) |
Definition at line 72 of file saturation.cpp.
References PROFILE_SATURATION_SOUT_COMPUTATION.
DEFINE_SIGNAL_OUT_FUNCTION | ( | q | , |
dynamicgraph::Vector | |||
) |
apply feedback correction
convert from xyzquat to se3
find translation to apply to both feet to minimise distances to reference positions
two vectors define by left to right feet translation
angle betwin this two vectors projected in horizontal plane is the yaw drift
apply correction to cancel this drift
convert from xyzquat to se3
apply feedback correction
convert from xyzquat to se3
find translation to apply to both feet to minimise distances to reference positions
two vectors define by left to right feet translation
angle betwin this two vectors projected in horizontal plane is the yaw drift
apply correction to cancel this drift
convert from xyzquat to se3
Definition at line 79 of file state-transformation.cpp.
References PROFILE_STATETRANSFORMATION_Q_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dRP | , |
dynamicgraph::Vector | |||
) |
Definition at line 84 of file ankle-admittance-controller.cpp.
References AnkleAdmittanceController::m_initSucceeded, and PROFILE_ANKLEADMITTANCECONTROLLER_DRP_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dcm | , |
dynamicgraph::Vector | |||
) |
Definition at line 87 of file dummy-dcm-estimator.cpp.
References DummyDcmEstimator::m_initSucceeded, and PROFILE_DUMMYDCMESTIMATOR_DCM_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | selecLeft | , |
Flags | |||
) |
Definition at line 88 of file ankle-joint-selector.cpp.
References AnkleJointSelector::m_initSucceeded, AnkleJointSelector::m_ones, and AnkleJointSelector::m_zeros.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_ref | , |
dynamicgraph::Vector | |||
) |
Definition at line 88 of file simple-controller-6d.cpp.
References SimpleController6d::m_initSucceeded, PROFILE_SIMPLE_CONTROLLER_6D_DX_REF_COMPUTATION, and SimpleController6d::skew().
DEFINE_SIGNAL_OUT_FUNCTION | ( | dx_ref | , |
dynamicgraph::Vector | |||
) |
Definition at line 88 of file simple-pid.cpp.
References SimplePID::m_dt, SimplePID::m_initSucceeded, SimplePID::m_integralError, and PROFILE_SIMPLE_PID_DX_REF_COMPUTATION.
DEFINE_SIGNAL_OUT_FUNCTION | ( | dqRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 90 of file joint-position-controller.cpp.
References JointPositionController::m_initSucceeded, JointPositionController::m_n, and PROFILE_JOINTPOSITIONCONTROLLER_DQREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | ddx_ref | , |
dynamicgraph::Vector | |||
) |
Definition at line 99 of file simple-pidd.cpp.
References DEFINE_SIGNAL_OUT_FUNCTION(), SimplePIDD::m_dt, SimplePIDD::m_dx_ref, SimplePIDD::m_initSucceeded, SimplePIDD::m_integralError, and PROFILE_SIMPLE_PIDD_DDX_REF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | c | , |
dynamicgraph::Vector | |||
) |
Definition at line 100 of file dcm-estimator.cpp.
References DcmEstimator::m_data, and DcmEstimator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | referenceFrame | , |
MatrixHomogeneous | |||
) |
Definition at line 101 of file simple-reference-frame.cpp.
References SimpleReferenceFrame::m_first, SimpleReferenceFrame::m_initSucceeded, SimpleReferenceFrame::m_referenceFrame, and SimpleReferenceFrame::m_rightFootSoleXYZ.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | selecRight | , |
Flags | |||
) |
Definition at line 103 of file ankle-joint-selector.cpp.
References AnkleJointSelector::m_initSucceeded, AnkleJointSelector::m_ones, and AnkleJointSelector::m_zeros.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | sum | , |
double | |||
) |
Definition at line 103 of file example.cpp.
References Example::m_initSucceeded, and PROFILE_EXAMPLE_SUM_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | right_foot_force_out | , |
dynamicgraph::Vector | |||
) |
Definition at line 104 of file ft-calibration.cpp.
References CALIB_ITER_TIME, FtCalibration::m_initSucceeded, FtCalibration::m_left_foot_weight, FtCalibration::m_right_calibration_iter, FtCalibration::m_right_FT_offset, and FtCalibration::m_right_FT_offset_calibration_sum.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dc | , |
dynamicgraph::Vector | |||
) |
Definition at line 115 of file dcm-estimator.cpp.
References DcmEstimator::m_data, DcmEstimator::m_initSucceeded, and DcmEstimator::m_model.
DEFINE_SIGNAL_OUT_FUNCTION | ( | ddcomRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 117 of file com-admittance-controller.cpp.
References ComAdmittanceController::m_initSucceeded, and PROFILE_COMADMITTANCECONTROLLER_DDCOMREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | vDes | , |
dynamicgraph::Vector | |||
) |
Definition at line 117 of file ankle-admittance-controller.cpp.
References AnkleAdmittanceController::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | leftRoll | , |
dg::Vector | |||
) |
Definition at line 118 of file ankle-joint-selector.cpp.
References AnkleJointSelector::m_initSucceeded.
DEFINE_SIGNAL_OUT_FUNCTION | ( | v | , |
dynamicgraph::Vector | |||
) |
TODO
TODO
Definition at line 122 of file state-transformation.cpp.
References PROFILE_STATETRANSFORMATION_V_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | nbJoints | , |
int | |||
) |
Definition at line 123 of file example.cpp.
References Example::m_initSucceeded, Example::m_robot_util, and PROFILE_EXAMPLE_NBJOINTS_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | comDes | , |
dynamicgraph::Vector | |||
) |
Definition at line 124 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::actInv(), and DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | qRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 131 of file simple-admittance-controller.cpp.
References SimpleAdmittanceController::m_dt, SimpleAdmittanceController::m_initSucceeded, SimpleAdmittanceController::m_n, SimpleAdmittanceController::m_q, SimpleAdmittanceController::m_useState, and PROFILE_SIMPLE_ADMITTANCECONTROLLER_QREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | left_foot_force_out | , |
dynamicgraph::Vector | |||
) |
Definition at line 136 of file ft-calibration.cpp.
References CALIB_ITER_TIME, FtCalibration::m_initSucceeded, FtCalibration::m_left_calibration_iter, FtCalibration::m_left_foot_weight, FtCalibration::m_left_FT_offset, and FtCalibration::m_left_FT_offset_calibration_sum.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | leftPitch | , |
dg::Vector | |||
) |
Definition at line 142 of file ankle-joint-selector.cpp.
References AnkleJointSelector::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | u | , |
dynamicgraph::Vector | |||
) |
Definition at line 143 of file talos-control-manager.cpp.
References CTRL_MODE_TRANSITION_TIME_STEP, TalosControlManager::m_ctrlInputsSIN, TalosControlManager::m_initSucceeded, TalosControlManager::m_is_first_iter, TalosControlManager::m_jointCtrlModes_current, TalosControlManager::m_jointCtrlModes_previous, TalosControlManager::m_jointCtrlModesCountDown, TalosControlManager::m_numDofs, and TalosControlManager::updateJointCtrlModesOutputSignal().
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | vcomDes | , |
dynamicgraph::Vector | |||
) |
Definition at line 144 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::m_initSucceeded.
DEFINE_SIGNAL_OUT_FUNCTION | ( | zmpRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 155 of file dcm-com-controller.cpp.
References DcmComController::m_initSucceeded, and PROFILE_DCMCOMCONTROLLER_ZMPREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | vRight | , |
dynamicgraph::Vector | |||
) |
Definition at line 155 of file foot-force-difference-controller.cpp.
References FootForceDifferenceController::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | acomDes | , |
dynamicgraph::Vector | |||
) |
Definition at line 164 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | rightRoll | , |
dg::Vector | |||
) |
Definition at line 166 of file ankle-joint-selector.cpp.
References AnkleJointSelector::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | tau_filt | , |
dynamicgraph::Vector | |||
) |
Definition at line 171 of file hip-flexibility-compensation.cpp.
References HipFlexibilityCompensation::lowPassFilter(), HipFlexibilityCompensation::m_initSucceeded, HipFlexibilityCompensation::m_previous_tau, HipFlexibilityCompensation::m_torqueLowPassFilterFrequency, and PROFILE_HIPFLEXIBILITYCOMPENSATION_TAUFILT_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dqRefL | , |
dynamicgraph::Vector | |||
) |
Definition at line 173 of file coupled-admittance-controller.cpp.
References PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFL_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | comRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 174 of file com-admittance-controller.cpp.
References ComAdmittanceController::m_initSucceeded, and PROFILE_COMADMITTANCECONTROLLER_COMREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | vLeft | , |
dynamicgraph::Vector | |||
) |
Definition at line 177 of file foot-force-difference-controller.cpp.
References FootForceDifferenceController::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmp | , |
dynamicgraph::Vector | |||
) |
Definition at line 177 of file simple-zmp-estimator.cpp.
References DEFINE_SIGNAL_OUT_FUNCTION(), SimpleZmpEstimator::m_emergency_stop_triggered, SimpleZmpEstimator::m_eps, SimpleZmpEstimator::m_initSucceeded, and PROFILE_SIMPLEZMPESTIMATOR_ZMP_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dcmDes | , |
dynamicgraph::Vector | |||
) |
Definition at line 184 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::m_initSucceeded.
DEFINE_SIGNAL_OUT_FUNCTION | ( | wrenchRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 184 of file dcm-com-controller.cpp.
References DcmComController::m_initSucceeded, and PROFILE_DCMCOMCONTROLLER_WRENCHREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | x | , |
dynamicgraph::Vector | |||
) |
Definition at line 185 of file nd-trajectory-generator.cpp.
References NdTrajectoryGenerator::JTG_SPLINE, NdTrajectoryGenerator::JTG_STOP, NdTrajectoryGenerator::JTG_TEXT_FILE, NdTrajectoryGenerator::m_currentTrajGen, NdTrajectoryGenerator::m_dt, NdTrajectoryGenerator::m_firstIter, NdTrajectoryGenerator::m_initSucceeded, NdTrajectoryGenerator::m_iterLast, NdTrajectoryGenerator::m_n, NdTrajectoryGenerator::m_noTrajGen, NdTrajectoryGenerator::m_splineReady, NdTrajectoryGenerator::m_splineTrajGen, NdTrajectoryGenerator::m_status, NdTrajectoryGenerator::m_t, NdTrajectoryGenerator::m_textFileTrajGen, PROFILE_ND_POSITION_DESIRED_COMPUTATION, and NdTrajectoryGenerator::startSpline().
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dqRefR | , |
dynamicgraph::Vector | |||
) |
Definition at line 187 of file coupled-admittance-controller.cpp.
References PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFR_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | rightPitch | , |
dg::Vector | |||
) |
Definition at line 190 of file ankle-joint-selector.cpp.
References AnkleJointSelector::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | rightWristForceOut | , |
dynamicgraph::Vector | |||
) |
Definition at line 193 of file ft-wrist-calibration.cpp.
References CALIB_ITER_TIME, FtWristCalibration::m_initSucceeded, FtWristCalibration::m_removeWeight, FtWristCalibration::m_right_FT_offset, FtWristCalibration::m_right_FT_offset_calibration_sum, FtWristCalibration::m_right_weight_calibration_sum, and FtWristCalibration::m_rightCalibrationIter.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | delta_q | , |
dynamicgraph::Vector | |||
) |
Definition at line 196 of file hip-flexibility-compensation.cpp.
References HipFlexibilityCompensation::m_delta_q_saturation, HipFlexibilityCompensation::m_initSucceeded, and PROFILE_HIPFLEXIBILITYCOMPENSATION_DELTAQ_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dcomRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 197 of file com-admittance-controller.cpp.
References ComAdmittanceController::m_initSucceeded, and PROFILE_COMADMITTANCECONTROLLER_DCOMREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | gainRight | , |
double | |||
) |
Definition at line 199 of file foot-force-difference-controller.cpp.
References FootForceDifferenceController::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmpDes | , |
dynamicgraph::Vector | |||
) |
Definition at line 203 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::actInv(), and DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | u_safe | , |
dynamicgraph::Vector | |||
) |
Definition at line 212 of file talos-control-manager.cpp.
References TalosControlManager::m_emergency_stop_triggered, TalosControlManager::m_emergencyStopVector, TalosControlManager::m_initSucceeded, and TalosControlManager::m_numDofs.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dq | , |
dynamicgraph::Vector | |||
) |
Definition at line 216 of file admittance-controller-end-effector.cpp.
References AdmittanceControllerEndEffector::m_data, AdmittanceControllerEndEffector::m_endEffectorId, AdmittanceControllerEndEffector::m_initSucceeded, AdmittanceControllerEndEffector::m_n, and PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_DQ_COMPUTATION.
Referenced by SimpleZmpEstimator::computeCoP(), DEFINE_SIGNAL_INNER_FUNCTION(), DEFINE_SIGNAL_OUT_FUNCTION(), DcmController::resetDcmIntegralError(), DcmComController::resetDcmIntegralError(), RoundDoubleToInt::RoundDoubleToInt(), and SimpleAdmittanceController::setPosition().
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | gainLeft | , |
double | |||
) |
Definition at line 222 of file foot-force-difference-controller.cpp.
References FootForceDifferenceController::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | leftWristForceOut | , |
dynamicgraph::Vector | |||
) |
Definition at line 231 of file ft-wrist-calibration.cpp.
References CALIB_ITER_TIME, FtWristCalibration::m_initSucceeded, FtWristCalibration::m_left_FT_offset, FtWristCalibration::m_left_FT_offset_calibration_sum, FtWristCalibration::m_left_weight_calibration_sum, FtWristCalibration::m_leftCalibrationIter, and FtWristCalibration::m_removeWeight.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | footLeftDes | , |
MatrixHomogeneous | |||
) |
Definition at line 241 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::actInv(), and DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | q_cmd | , |
dynamicgraph::Vector | |||
) |
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | footRightDes | , |
MatrixHomogeneous | |||
) |
Definition at line 258 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::actInv(), and DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | waistDes | , |
MatrixHomogeneous | |||
) |
Definition at line 275 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::actInv(), and DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | omegaDes | , |
double | |||
) |
Definition at line 291 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dx | , |
dynamicgraph::Vector | |||
) |
Definition at line 301 of file nd-trajectory-generator.cpp.
References NdTrajectoryGenerator::JTG_SPLINE, NdTrajectoryGenerator::JTG_TEXT_FILE, NdTrajectoryGenerator::m_currentTrajGen, NdTrajectoryGenerator::m_initSucceeded, NdTrajectoryGenerator::m_n, NdTrajectoryGenerator::m_splineTrajGen, NdTrajectoryGenerator::m_status, NdTrajectoryGenerator::m_t, and NdTrajectoryGenerator::m_textFileTrajGen.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | rhoDes | , |
double | |||
) |
Definition at line 303 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | phaseDes | , |
int | |||
) |
Definition at line 315 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | ddx | , |
dynamicgraph::Vector | |||
) |
Definition at line 333 of file nd-trajectory-generator.cpp.
References NdTrajectoryGenerator::JTG_SPLINE, NdTrajectoryGenerator::JTG_TEXT_FILE, NdTrajectoryGenerator::m_currentTrajGen, NdTrajectoryGenerator::m_initSucceeded, NdTrajectoryGenerator::m_n, NdTrajectoryGenerator::m_splineTrajGen, NdTrajectoryGenerator::m_status, NdTrajectoryGenerator::m_t, and NdTrajectoryGenerator::m_textFileTrajGen.
DEFINE_SIGNAL_OUT_FUNCTION | ( | wrenchLeft | , |
dynamicgraph::Vector | |||
) |
Definition at line 461 of file distribute-wrench.cpp.
References DistributeWrench::m_initSucceeded, and DistributeWrench::m_wrenchLeft.
DEFINE_SIGNAL_OUT_FUNCTION | ( | wrenchRight | , |
dynamicgraph::Vector | |||
) |
Definition at line 477 of file distribute-wrench.cpp.
References DistributeWrench::m_initSucceeded, and DistributeWrench::m_wrenchRight.
DEFINE_SIGNAL_OUT_FUNCTION | ( | ankleWrenchLeft | , |
dynamicgraph::Vector | |||
) |
Definition at line 493 of file distribute-wrench.cpp.
References DistributeWrench::m_data, DistributeWrench::m_initSucceeded, and DistributeWrench::m_left_foot_id.
DEFINE_SIGNAL_OUT_FUNCTION | ( | ankleWrenchRight | , |
dynamicgraph::Vector | |||
) |
Definition at line 510 of file distribute-wrench.cpp.
References DistributeWrench::m_data, DistributeWrench::m_initSucceeded, and DistributeWrench::m_right_foot_id.
DEFINE_SIGNAL_OUT_FUNCTION | ( | surfaceWrenchLeft | , |
dynamicgraph::Vector | |||
) |
Definition at line 527 of file distribute-wrench.cpp.
References DistributeWrench::m_contactLeft, and DistributeWrench::m_initSucceeded.
DEFINE_SIGNAL_OUT_FUNCTION | ( | surfaceWrenchRight | , |
dynamicgraph::Vector | |||
) |
Definition at line 544 of file distribute-wrench.cpp.
References DistributeWrench::m_contactRight, and DistributeWrench::m_initSucceeded.
DEFINE_SIGNAL_OUT_FUNCTION | ( | copLeft | , |
dynamicgraph::Vector | |||
) |
Definition at line 561 of file distribute-wrench.cpp.
References DistributeWrench::computeCoP(), DistributeWrench::m_contactLeft, DistributeWrench::m_emergency_stop_triggered, and DistributeWrench::m_initSucceeded.
DEFINE_SIGNAL_OUT_FUNCTION | ( | copRight | , |
dynamicgraph::Vector | |||
) |
Definition at line 584 of file distribute-wrench.cpp.
References DistributeWrench::computeCoP(), DEFINE_SIGNAL_OUT_FUNCTION(), DistributeWrench::m_contactRight, DistributeWrench::m_emergency_stop_triggered, DistributeWrench::m_eps, and DistributeWrench::m_initSucceeded.
DEFINE_SIGNAL_OUT_FUNCTION | ( | emergencyStop | , |
bool | |||
) |
Definition at line 674 of file distribute-wrench.cpp.
References DistributeWrench::m_emergency_stop_triggered.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | lf_xyzquat | , |
dynamicgraph::Vector | |||
) |
Definition at line 911 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_oMlfs_xyzquat.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | rf_xyzquat | , |
dynamicgraph::Vector | |||
) |
Definition at line 926 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_oMrfs_xyzquat.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | q_lf | , |
dynamicgraph::Vector | |||
) |
Definition at line 941 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_oMff_lf, and TalosBaseEstimator::m_robot_util.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | q_rf | , |
dynamicgraph::Vector | |||
) |
Definition at line 958 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_oMff_rf, and TalosBaseEstimator::m_robot_util.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | q_imu | , |
dynamicgraph::Vector | |||
) |
Definition at line 975 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_data, TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_oRff, TalosBaseEstimator::m_robot_util, TalosBaseEstimator::m_torso_id, and TalosBaseEstimator::m_torsoMimu.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | w_lf | , |
double | |||
) |
Definition at line 1001 of file talos-base-estimator.cpp.
References TalosBaseEstimator::compute_force_weight(), TalosBaseEstimator::compute_zmp(), TalosBaseEstimator::compute_zmp_weight(), TalosBaseEstimator::m_fz_margin_lf, TalosBaseEstimator::m_fz_stable_windows_size, TalosBaseEstimator::m_fz_std_dev_lf, TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_left_foot_is_stable, TalosBaseEstimator::m_left_foot_sizes, TalosBaseEstimator::m_lf_fz_stable_cpt, TalosBaseEstimator::m_zmp_margin_lf, and TalosBaseEstimator::m_zmp_std_dev_lf.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | w_rf | , |
double | |||
) |
Definition at line 1034 of file talos-base-estimator.cpp.
References TalosBaseEstimator::compute_force_weight(), TalosBaseEstimator::compute_zmp(), TalosBaseEstimator::compute_zmp_weight(), TalosBaseEstimator::m_fz_margin_rf, TalosBaseEstimator::m_fz_stable_windows_size, TalosBaseEstimator::m_fz_std_dev_rf, TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_rf_fz_stable_cpt, TalosBaseEstimator::m_right_foot_is_stable, TalosBaseEstimator::m_right_foot_sizes, TalosBaseEstimator::m_zmp_margin_rf, and TalosBaseEstimator::m_zmp_std_dev_rf.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | w_rf_filtered | , |
double | |||
) |
Definition at line 1068 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_alpha_w_filter, TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_w_rf_filtered.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | w_lf_filtered | , |
double | |||
) |
Definition at line 1081 of file talos-base-estimator.cpp.
References DEFINE_SIGNAL_OUT_FUNCTION(), TalosBaseEstimator::m_alpha_DC_acc, TalosBaseEstimator::m_alpha_DC_vel, TalosBaseEstimator::m_alpha_w_filter, TalosBaseEstimator::m_data, TalosBaseEstimator::m_dt, TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_isFirstIterFlag, TalosBaseEstimator::m_K_lf, TalosBaseEstimator::m_K_rf, TalosBaseEstimator::m_last_DCacc, TalosBaseEstimator::m_last_DCvel, TalosBaseEstimator::m_last_vel, TalosBaseEstimator::m_left_foot_id, TalosBaseEstimator::m_left_foot_is_stable, TalosBaseEstimator::m_model, TalosBaseEstimator::m_oRff, TalosBaseEstimator::m_oRtorso, TalosBaseEstimator::m_right_foot_id, TalosBaseEstimator::m_right_foot_is_stable, TalosBaseEstimator::m_robot_util, TalosBaseEstimator::m_torso_id, TalosBaseEstimator::m_torsoMimu, TalosBaseEstimator::m_v_ac, TalosBaseEstimator::m_v_flex, TalosBaseEstimator::m_v_gyr, TalosBaseEstimator::m_v_imu, TalosBaseEstimator::m_v_kin, TalosBaseEstimator::m_v_sot, TalosBaseEstimator::m_w_lf_filtered, and PROFILE_BASE_VELOCITY_ESTIMATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_kin | , |
dynamicgraph::Vector | |||
) |
Definition at line 1278 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_v_kin.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_flex | , |
dynamicgraph::Vector | |||
) |
Definition at line 1290 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_v_flex, and TalosBaseEstimator::m_v_kin.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_imu | , |
dynamicgraph::Vector | |||
) |
Definition at line 1302 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_v_imu.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_gyr | , |
dynamicgraph::Vector | |||
) |
Definition at line 1314 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_v_gyr.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_ac | , |
dynamicgraph::Vector | |||
) |
Definition at line 1326 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_v_ac.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | a_ac | , |
dynamicgraph::Vector | |||
) |
Definition at line 1338 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_a_ac, and TalosBaseEstimator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | FtCalibration | , |
"FtCalibration" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | QualisysClient | , |
"QualisysClient" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | BooleanIdentity | , |
"BooleanIdentity" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | RoundDoubleToInt | , |
"RoundDoubleToInt" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | IntIdentity | , |
"IntIdentity" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | FtWristCalibration | , |
"FtWristCalibration" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DcmEstimator | , |
"DcmEstimator" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | NdTrajectoryGenerator | , |
"NdTrajectoryGenerator" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | AnkleJointSelector | , |
"AnkleJointSelector" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | FootForceDifferenceController | , |
"FootForceDifferenceController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | AnkleAdmittanceController | , |
"AnkleAdmittanceController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimpleReferenceFrame | , |
"SimpleReferenceFrame" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | QuatToEuler | , |
"QuatToEuler" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimpleController6d | , |
"SimpleController6d" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DummyDcmEstimator | , |
"DummyDcmEstimator" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | Example | , |
"Example" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | AdmittanceControllerEndEffector | , |
"AdmittanceControllerEndEffector" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimplePIDD | , |
"SimplePIDD" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | JointPositionController | , |
"JointPositionController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | PoseQuaternionToMatrixHomo | , |
"PoseQuaternionToMatrixHomo" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimplePID | , |
"SimplePID" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | EulerToQuat | , |
"EulerToQuat" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | StateTransformation | , |
"StateTransformation" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DcmController | , |
"DcmController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DummyWalkingPatternGenerator | , |
"DummyWalkingPatternGenerator" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimpleZmpEstimator | , |
"SimpleZmpEstimator" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | Saturation | , |
"Saturation" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DcmComController | , |
"DcmComController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimpleAdmittanceController | , |
"SimpleAdmittanceController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | HipFlexibilityCompensation | , |
"HipFlexibilityCompensation" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | TalosControlManager | , |
"TalosControlManager" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | ComAdmittanceController | , |
"ComAdmittanceController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimpleDistributeWrench | , |
"SimpleDistributeWrench" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | CoupledAdmittanceController | , |
"CoupledAdmittanceController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DistributeWrench | , |
"DistributeWrench" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | TalosBaseEstimator | , |
"TalosBaseEstimator" | |||
) |
|
inline |
Multiply to quaternions stored in (w,x,y,z) format Rotate a point or a vector by a quaternion stored in (w,x,y,z) format Avoids singularity while taking the mean of euler angles
Definition at line 110 of file talos-base-estimator.cpp.
void matrixToRpy | ( | const Eigen::Matrix3d & | M, |
Eigen::Vector3d & | rpy | ||
) |
Convert from Transformation Matrix to Roll, Pitch, Yaw
Definition at line 66 of file talos-base-estimator.cpp.
Referenced by DEFINE_SIGNAL_INNER_FUNCTION().
std::ostream& dynamicgraph::sot::talos_balance::operator<< | ( | std::ostream & | os, |
const CtrlMode & | s | ||
) |
Definition at line 67 of file talos-control-manager.hh.
References CtrlMode::id, and CtrlMode::name.
void rpyToMatrix | ( | double | r, |
double | p, | ||
double | y, | ||
Eigen::Matrix3d & | R | ||
) |
Convert from Roll, Pitch, Yaw to transformation Matrix.
Definition at line 51 of file talos-base-estimator.cpp.
Referenced by DEFINE_SIGNAL_INNER_FUNCTION(), TalosBaseEstimator::kinematics_estimation(), and rpyToMatrix().
void rpyToMatrix | ( | const Eigen::Vector3d & | rpy, |
Eigen::Matrix3d & | R | ||
) |
Convert from Roll, Pitch, Yaw to transformation Matrix.
Definition at line 61 of file talos-base-estimator.cpp.
References rpyToMatrix().
void se3Interp | ( | const pinocchio::SE3 & | s1, |
const pinocchio::SE3 & | s2, | ||
const double | alpha, | ||
pinocchio::SE3 & | s12 | ||
) |
Compute s12 as an intermediate transform between s1 and s2 SE3 transforms
Definition at line 37 of file talos-base-estimator.cpp.
Referenced by DEFINE_SIGNAL_INNER_FUNCTION().
|
inline |
Avoids singularity while taking the mean of euler angles
Definition at line 121 of file talos-base-estimator.cpp.
Referenced by DEFINE_SIGNAL_INNER_FUNCTION().