sot-torque-control  1.5.2
dynamicgraph::sot::torque_control Namespace Reference

Classes

class  AbstractTrajectoryGenerator
 
class  AdmittanceController
 
class  BaseEstimator
 
class  ConstantAccelerationTrajectoryGenerator
 
class  ControlManager
 
class  CtrlMode
 
class  CurrentController
 
class  DdpActuatorSolver
 
class  DdpPyreneActuatorSolver
 
class  DeviceTorqueCtrl
 
class  FreeFlyerLocator
 
class  ImuOffsetCompensation
 
class  InverseDynamicsBalanceController
 
class  JointTorqueController
 
class  JointTrajectoryGenerator
 
class  LinearChirpTrajectoryGenerator
 
class  MinimumJerkTrajectoryGenerator
 
class  MotorModel
 
class  NoTrajectoryGenerator
 
class  NumericalDifference
 
class  PositionController
 
class  SE3TrajectoryGenerator
 
class  SimpleInverseDyn
 
class  SinusoidTrajectoryGenerator
 
class  TextFileTrajectoryGenerator
 
class  TorqueOffsetEstimator
 
class  TracePlayer
 Entity to play data saved using a Tracer. More...
 
class  TriangleTrajectoryGenerator
 

Typedefs

typedef int dummy
 
typedef AdmittanceController EntityClassName
 
typedef SolverHQuadProgRT< 48, 30, 17 > SolverHQuadProgRT48x30x17
 
typedef SolverHQuadProgRT< 60, 36, 34 > SolverHQuadProgRT60x36x34
 
typedef Eigen::Matrix< double, 2, 1 > Vector2
 
typedef Eigen::Matrix< double, 3, 1 > Vector3
 
typedef Eigen::Matrix< double, 6, 1 > Vector6
 
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > VectorN
 
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > VectorN6
 

Enumerations

enum  ControlOutput {
  CONTROL_OUTPUT_VELOCITY = 0,
  CONTROL_OUTPUT_TORQUE = 1,
  CONTROL_OUTPUT_SIZE = 2
}
 

Functions

 DEFINE_SIGNAL_INNER_FUNCTION (x_dx_ddx, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (collectSensorData, dummy)
 
 DEFINE_SIGNAL_INNER_FUNCTION (kinematics_computations, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (active_joints_checked, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (trigger, int)
 
 DEFINE_SIGNAL_OUT_FUNCTION (tau, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (pwmDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (x_filtered, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dx, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ddx, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (base6dFromFoot_encoders, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (x, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (qError, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (u, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (freeflyer_aa, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (accelerometer_out, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (gyrometer_out, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dqDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (jointTorquesEstimated, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (torque_error_integral, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (i_real, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (smoothSignDq, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (i_low_level, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vDesRightFoot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (u_safe, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (i_sensor_offsets_real_out, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dq, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ddq, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vDesLeftFoot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dead_zone_compensation, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (fRightFoot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (fLeftFoot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (i_errors, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (fRightHand, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (fLeftHand, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (i_errors_ll_wo_bemf, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (tau_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (lf_xyzquat, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (rf_xyzquat, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_lf, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_rf, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_imu, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_lf, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_rf, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_rf_filtered, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_lf_filtered, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (M, dynamicgraph::Matrix)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dv_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (f_des_right_foot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (f_des_left_foot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (com_acc_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (com_acc, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_des_right_foot_local, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_kin, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_flex, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_des_left_foot_local, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_imu, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_gyr, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_des_right_foot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_ac, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (a_ac, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_des_left_foot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_ref, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_right_foot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_left_foot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (com, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (com_vel, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (base_orientation, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_foot_pos, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_hand_pos, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_foot_pos, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_hand_pos, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_foot_vel, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_hand_vel, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_foot_vel, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_hand_vel, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_foot_acc, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_hand_acc, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_foot_acc, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_hand_acc, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_foot_acc_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_foot_acc_des, dynamicgraph::Vector)
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (TracePlayer, "TracePlayer")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SE3TrajectoryGenerator, "SE3TrajectoryGenerator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (JointTrajectoryGenerator, "JointTrajectoryGenerator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (NumericalDifference, "NumericalDifference")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ImuOffsetCompensation, "ImuOffsetCompensation")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (TorqueOffsetEstimator, "TorqueOffsetEstimator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FreeFlyerLocator, "FreeFlyerLocator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (PositionController, "PositionController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (CurrentController, "CurrentController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ControlManager, "ControlManager")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (JointTorqueController, "JointTorqueController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (AdmittanceController, "AdmittanceController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DdpActuatorSolver, "DdpActuatorSolver")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DdpPyreneActuatorSolver, "DdpPyreneActuatorSolver")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (BaseEstimator, "BaseEstimator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleInverseDyn, "SimpleInverseDyn")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (InverseDynamicsBalanceController, "InverseDynamicsBalanceController")
 
void matrixToRpy (const Eigen::Matrix3d &M, Eigen::Vector3d &rpy)
 
std::ostream & operator<< (std::ostream &os, const CtrlMode &s)
 
void pointRotationByQuaternion (const Eigen::Vector3d &point, const Eigen::Vector4d &quat, Eigen::Vector3d &rotatedPoint)
 
void quanternionMult (const Eigen::Vector4d &q1, const Eigen::Vector4d &q2, Eigen::Vector4d &q12)
 
Eigen::MatrixXd readMatrixFromFile (const char *filename)
 
void rpyToMatrix (double r, double p, double y, Eigen::Matrix3d &R)
 
void rpyToMatrix (const Eigen::Vector3d &rpy, Eigen::Matrix3d &R)
 
void se3Interp (const pinocchio::SE3 &s1, const pinocchio::SE3 &s2, const double alpha, pinocchio::SE3 &s12)
 
VectorXd svdSolveWithDamping (const JacobiSVD< MatrixXd > &A, const VectorXd &b, double damping)
 

Variables

const std::string ControlOutput_s [] = {"velocity", "torque"}
 

Typedef Documentation

◆ dummy

typedef int dummy

Definition at line 30 of file torque-offset-estimator.cpp.

◆ 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 44 of file admittance-controller.cpp.

◆ SolverHQuadProgRT48x30x17

typedef SolverHQuadProgRT<48, 30, 17> SolverHQuadProgRT48x30x17

Definition at line 75 of file inverse-dynamics-balance-controller.cpp.

◆ SolverHQuadProgRT60x36x34

typedef SolverHQuadProgRT<60, 36, 34> SolverHQuadProgRT60x36x34

Definition at line 74 of file inverse-dynamics-balance-controller.cpp.

◆ Vector2

typedef Eigen::Matrix< double, 2, 1 > Vector2

Definition at line 192 of file inverse-dynamics-balance-controller.cpp.

◆ Vector3

typedef Eigen::Matrix<double, 3, 1> Vector3

Definition at line 46 of file admittance-controller.cpp.

◆ Vector6

typedef dynamicgraph::sot::Vector6d Vector6

Definition at line 47 of file admittance-controller.cpp.

◆ VectorN

typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > VectorN

Definition at line 193 of file inverse-dynamics-balance-controller.cpp.

◆ VectorN6

typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > VectorN6

Definition at line 194 of file inverse-dynamics-balance-controller.cpp.

Enumeration Type Documentation

◆ ControlOutput

Enumerator
CONTROL_OUTPUT_VELOCITY 
CONTROL_OUTPUT_TORQUE 
CONTROL_OUTPUT_SIZE 

Definition at line 65 of file simple-inverse-dyn.hh.

Function Documentation

◆ DEFINE_SIGNAL_INNER_FUNCTION() [1/4]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION ( x_dx_ddx  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_INNER_FUNCTION() [2/4]

◆ DEFINE_SIGNAL_INNER_FUNCTION() [3/4]

DEFINE_SIGNAL_INNER_FUNCTION ( kinematics_computations  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_INNER_FUNCTION() [4/4]

DEFINE_SIGNAL_INNER_FUNCTION ( active_joints_checked  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [1/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( trigger  ,
int   
)

Definition at line 54 of file trace-player.cpp.

References TracePlayer::playNext().

◆ DEFINE_SIGNAL_OUT_FUNCTION() [2/84]

DEFINE_SIGNAL_OUT_FUNCTION ( tau  ,
dynamicgraph::Vector   
)

-— Get the information –— Desired position

Measured position

Measured speed

Measured temperature

Measured torque

Desired torque

— Initialize solver —

— Solve the DDP —

— Get the command —

-— Get the information –— Desired position

Measured joint position

Measured joint speed

Desired torque

— Solve the DDP —

— Get the command —

-— Get the information –— Desired position

Measured joint position

Measured joint speed

Desired torque

— Solve the DDP —

— Get the command —

Definition at line 92 of file ddp-actuator-solver.cpp.

References DdpActuatorSolver::m_dt, DdpActuatorSolver::m_iterMax, DdpActuatorSolver::m_solver, DdpActuatorSolver::m_stopCrit, DdpActuatorSolver::m_T, and ODEBUG5.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [3/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( pwmDes  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [4/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( x_filtered  ,
dynamicgraph::Vector   
)

************************************************************************* /// The following signals depend only on other inner signals, so they just need to copy the interested part of the inner signal they depend on. ************************************************************************* ///

Definition at line 112 of file numerical-difference.cpp.

References NumericalDifference::x_size.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [5/84]

DEFINE_SIGNAL_OUT_FUNCTION ( dx  ,
dynamicgraph::Vector   
)

Definition at line 121 of file numerical-difference.cpp.

References NumericalDifference::x_size.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [6/84]

DEFINE_SIGNAL_OUT_FUNCTION ( ddx  ,
dynamicgraph::Vector   
)

Definition at line 130 of file numerical-difference.cpp.

References NumericalDifference::x_size.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [7/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( base6dFromFoot_encoders  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [8/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [9/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( qError  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [10/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [11/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [12/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( accelerometer_out  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [13/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( gyrometer_out  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [14/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [15/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( jointTorquesEstimated  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [16/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( torque_error_integral  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [17/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( i_real  ,
dynamicgraph::Vector   
)

Definition at line 217 of file current-controller.cpp.

References CurrentController::m_initSucceeded.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [18/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( smoothSignDq  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [19/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( i_low_level  ,
dynamicgraph::Vector   
)

Definition at line 235 of file current-controller.cpp.

References CurrentController::m_initSucceeded.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [20/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( vDesRightFoot  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [21/84]

DEFINE_SIGNAL_OUT_FUNCTION ( u_safe  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [22/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( i_sensor_offsets_real_out  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [23/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [24/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [25/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( vDesLeftFoot  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [26/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( dead_zone_compensation  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [27/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( fRightFoot  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [28/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( fLeftFoot  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [29/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( i_errors  ,
dynamicgraph::Vector   
)

Definition at line 294 of file current-controller.cpp.

References CurrentController::m_initSucceeded.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [30/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( fRightHand  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [31/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( fLeftHand  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [32/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( i_errors_ll_wo_bemf  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [33/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [34/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( v_des  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [35/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( q_des  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [36/84]

DEFINE_SIGNAL_OUT_FUNCTION ( tau_des  ,
dynamicgraph::Vector   
)

Definition at line 644 of file inverse-dynamics-balance-controller.cpp.

References InverseDynamicsBalanceController::addLeftFootContact(), InverseDynamicsBalanceController::addRightFootContact(), InverseDynamicsBalanceController::DOUBLE_SUPPORT, InverseDynamicsBalanceController::LEFT_SUPPORT, InverseDynamicsBalanceController::LEFT_SUPPORT_TRANSITION, InverseDynamicsBalanceController::m_com_offset, InverseDynamicsBalanceController::m_contactLF, InverseDynamicsBalanceController::m_contactRF, InverseDynamicsBalanceController::m_contactState, InverseDynamicsBalanceController::m_contactTransitionTime, InverseDynamicsBalanceController::m_dt, InverseDynamicsBalanceController::m_dv_sot, InverseDynamicsBalanceController::m_dv_urdf, InverseDynamicsBalanceController::m_f_LF, InverseDynamicsBalanceController::m_f_RF, InverseDynamicsBalanceController::m_firstTime, InverseDynamicsBalanceController::m_hqpSolver, InverseDynamicsBalanceController::m_hqpSolver_48_30_17, InverseDynamicsBalanceController::m_hqpSolver_60_36_34, InverseDynamicsBalanceController::m_initSucceeded, InverseDynamicsBalanceController::m_invDyn, InverseDynamicsBalanceController::m_leftHandState, InverseDynamicsBalanceController::m_q_urdf, InverseDynamicsBalanceController::m_rightHandState, InverseDynamicsBalanceController::m_robot, InverseDynamicsBalanceController::m_robot_util, InverseDynamicsBalanceController::m_sampleCom, InverseDynamicsBalanceController::m_sampleLF, InverseDynamicsBalanceController::m_sampleLH, InverseDynamicsBalanceController::m_samplePosture, InverseDynamicsBalanceController::m_sampleRF, InverseDynamicsBalanceController::m_sampleRH, InverseDynamicsBalanceController::m_t, InverseDynamicsBalanceController::m_taskCom, InverseDynamicsBalanceController::m_taskLF, InverseDynamicsBalanceController::m_taskLH, InverseDynamicsBalanceController::m_taskPosture, InverseDynamicsBalanceController::m_taskRF, InverseDynamicsBalanceController::m_taskRH, InverseDynamicsBalanceController::m_tau_sot, InverseDynamicsBalanceController::m_timeLast, InverseDynamicsBalanceController::m_v_urdf, InverseDynamicsBalanceController::m_w_com, InverseDynamicsBalanceController::m_w_posture, PROFILE_HQP_SOLUTION, PROFILE_PREPARE_INV_DYN, PROFILE_READ_INPUT_SIGNALS, PROFILE_TAU_DES_COMPUTATION, InverseDynamicsBalanceController::removeLeftFootContact(), InverseDynamicsBalanceController::removeRightFootContact(), InverseDynamicsBalanceController::RIGHT_SUPPORT, InverseDynamicsBalanceController::RIGHT_SUPPORT_TRANSITION, InverseDynamicsBalanceController::TASK_LEFT_HAND_ON, InverseDynamicsBalanceController::TASK_RIGHT_HAND_ON, and ZERO_FORCE_THRESHOLD.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [37/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( lf_xyzquat  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [38/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( rf_xyzquat  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [39/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( q_lf  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [40/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( q_rf  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [41/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( q_imu  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [42/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [43/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [44/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( w_rf_filtered  ,
double   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [45/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( w_lf_filtered  ,
double   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [46/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [47/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( ,
dynamicgraph::Matrix   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [48/84]

DEFINE_SIGNAL_OUT_FUNCTION ( dv_des  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [49/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( f_des_right_foot  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [50/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( f_des_left_foot  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [51/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( com_acc_des  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [52/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( com_acc  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [53/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp_des_right_foot_local  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [54/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( v_kin  ,
dynamicgraph::Vector   
)

Definition at line 978 of file base-estimator.cpp.

References BaseEstimator::m_initSucceeded, and BaseEstimator::m_v_kin.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [55/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( v_flex  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [56/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp_des_left_foot_local  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [57/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( v_imu  ,
dynamicgraph::Vector   
)

Definition at line 998 of file base-estimator.cpp.

References BaseEstimator::m_initSucceeded, and BaseEstimator::m_v_imu.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [58/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( v_gyr  ,
dynamicgraph::Vector   
)

Definition at line 1008 of file base-estimator.cpp.

References BaseEstimator::m_initSucceeded, and BaseEstimator::m_v_gyr.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [59/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [60/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( v_ac  ,
dynamicgraph::Vector   
)

Definition at line 1018 of file base-estimator.cpp.

References BaseEstimator::m_initSucceeded, and BaseEstimator::m_v_ac.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [61/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( a_ac  ,
dynamicgraph::Vector   
)

Definition at line 1028 of file base-estimator.cpp.

References BaseEstimator::m_a_ac, and BaseEstimator::m_initSucceeded.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [62/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [63/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [64/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp_ref  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [65/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [66/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [67/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [68/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( com  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [69/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( com_vel  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [70/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( base_orientation  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [71/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( left_foot_pos  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [72/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( left_hand_pos  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [73/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( right_foot_pos  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [74/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( right_hand_pos  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [75/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( left_foot_vel  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [76/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( left_hand_vel  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [77/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( right_foot_vel  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [78/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( right_hand_vel  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [79/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [80/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( left_hand_acc  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [81/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [82/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( right_hand_acc  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [83/84]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [84/84]

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [1/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( TracePlayer  ,
"TracePlayer"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [2/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SE3TrajectoryGenerator  ,
"SE3TrajectoryGenerator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [3/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( JointTrajectoryGenerator  ,
"JointTrajectoryGenerator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [4/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( NumericalDifference  ,
"NumericalDifference"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [5/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( ImuOffsetCompensation  ,
"ImuOffsetCompensation"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [6/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( TorqueOffsetEstimator  ,
"TorqueOffsetEstimator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [7/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( FreeFlyerLocator  ,
"FreeFlyerLocator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [8/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( PositionController  ,
"PositionController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [9/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( CurrentController  ,
"CurrentController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [10/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( ControlManager  ,
"ControlManager"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [11/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( JointTorqueController  ,
"JointTorqueController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [12/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( AdmittanceController  ,
"AdmittanceController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [13/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DdpActuatorSolver  ,
"DdpActuatorSolver"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [14/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DdpPyreneActuatorSolver  ,
"DdpPyreneActuatorSolver"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [15/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( BaseEstimator  ,
"BaseEstimator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [16/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimpleInverseDyn  ,
"SimpleInverseDyn"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [17/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( InverseDynamicsBalanceController  ,
"InverseDynamicsBalanceController"   
)

◆ matrixToRpy()

void matrixToRpy ( const Eigen::Matrix3d &  M,
Eigen::Vector3d &  rpy 
)

Convert from Transformation Matrix to Roll, Pitch, Yaw

Definition at line 41 of file base-estimator.cpp.

Referenced by DEFINE_SIGNAL_OUT_FUNCTION().

◆ operator<<()

std::ostream& dynamicgraph::sot::torque_control::operator<< ( std::ostream &  os,
const CtrlMode s 
)

Definition at line 59 of file control-manager.hh.

References CtrlMode::id, and CtrlMode::name.

◆ pointRotationByQuaternion()

void pointRotationByQuaternion ( const Eigen::Vector3d &  point,
const Eigen::Vector4d &  quat,
Eigen::Vector3d &  rotatedPoint 
)

Rotate a point or a vector by a quaternion stored in (w,x,y,z) format

Definition at line 60 of file base-estimator.cpp.

References quanternionMult().

◆ quanternionMult()

void quanternionMult ( const Eigen::Vector4d &  q1,
const Eigen::Vector4d &  q2,
Eigen::Vector4d &  q12 
)

Multiply to quaternions stored in (w,x,y,z) format

Definition at line 53 of file base-estimator.cpp.

Referenced by pointRotationByQuaternion().

◆ readMatrixFromFile()

Eigen::MatrixXd dynamicgraph::sot::torque_control::readMatrixFromFile ( const char *  filename)

Definition at line 41 of file trajectory-generators.hh.

References MAXBUFSIZE.

Referenced by TextFileTrajectoryGenerator::loadTextFile().

◆ rpyToMatrix() [1/2]

void rpyToMatrix ( double  r,
double  p,
double  y,
Eigen::Matrix3d &  R 
)

Convert from Roll, Pitch, Yaw to transformation Matrix.

Definition at line 31 of file base-estimator.cpp.

Referenced by DEFINE_SIGNAL_OUT_FUNCTION(), BaseEstimator::kinematics_estimation(), and rpyToMatrix().

◆ rpyToMatrix() [2/2]

void rpyToMatrix ( const Eigen::Vector3d &  rpy,
Eigen::Matrix3d &  R 
)

Convert from Roll, Pitch, Yaw to transformation Matrix.

Definition at line 39 of file base-estimator.cpp.

References rpyToMatrix().

◆ se3Interp()

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 24 of file base-estimator.cpp.

Referenced by DEFINE_SIGNAL_OUT_FUNCTION().

◆ svdSolveWithDamping()

VectorXd dynamicgraph::sot::torque_control::svdSolveWithDamping ( const JacobiSVD< MatrixXd > &  A,
const VectorXd &  b,
double  damping 
)

Definition at line 375 of file admittance-controller.cpp.

Referenced by DeviceTorqueCtrl::computeForwardDynamics().

Variable Documentation

◆ ControlOutput_s

const std::string ControlOutput_s[] = {"velocity", "torque"}

Definition at line 67 of file simple-inverse-dyn.hh.

Referenced by SimpleInverseDyn::setControlOutputType().