#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
#include <dynamic-graph/signal-helper.h>
#include <sot/core/matrix-geometry.hh>
Go to the source code of this file.
Classes | |
struct | ForceLimits |
struct | ForceUtil |
Map from force names to force ids. More... | |
struct | JointLimits |
struct | JointUtil |
Map from joint names to joint ids. More... | |
Namespaces | |
dynamicgraph | |
dynamicgraph::sot | |
dynamicgraph::sot::torque_control | |
Macros | |
#define | LEFT_FOOT_FRAME_NAME "LLEG_JOINT5" |
#define | N_JOINTS 32 |
#define | RIGHT_FOOT_FRAME_NAME "RLEG_JOINT5" |
#define | TALOSCOMMON_EXPORT |
Enumerations | |
enum | ForceID { FORCE_ID_RIGHT_FOOT = 0, FORCE_ID_LEFT_FOOT = 1, FORCE_ID_RIGHT_HAND = 2, FORCE_ID_LEFT_HAND = 3 } |
Functions | |
bool | base_se3_to_sot (dynamicgraph::sot::ConstRefVector pos, dynamicgraph::sot::ConstRefMatrix R, dynamicgraph::sot::RefVector q_sot) |
bool | base_sot_to_urdf (dynamicgraph::sot::ConstRefVector q_sot, dynamicgraph::sot::RefVector q_urdf) |
bool | base_urdf_to_sot (dynamicgraph::sot::ConstRefVector q_urdf, dynamicgraph::sot::RefVector q_sot) |
bool | config_sot_to_urdf (dynamicgraph::sot::ConstRefVector q_sot, dynamicgraph::sot::RefVector q_urdf) |
bool | config_urdf_to_sot (dynamicgraph::sot::ConstRefVector q_urdf, dynamicgraph::sot::RefVector q_sot) |
bool | joints_sot_to_urdf (dynamicgraph::sot::ConstRefVector q_sot, dynamicgraph::sot::RefVector q_urdf) |
bool | joints_urdf_to_sot (dynamicgraph::sot::ConstRefVector q_urdf, dynamicgraph::sot::RefVector q_sot) |
bool | velocity_sot_to_urdf (dynamicgraph::sot::ConstRefVector v_sot, dynamicgraph::sot::RefVector v_urdf) |
bool | velocity_urdf_to_sot (dynamicgraph::sot::ConstRefVector v_urdf, dynamicgraph::sot::RefVector v_sot) |
Variables | |
const double | DEFAULT_MAX_CURRENT = 5 |
max joint position tracking error [rad] More... | |
const double | DEFAULT_MAX_DELTA_Q = 0.1 |
const double | IMU_XYZ [3] = { -0.13, 0.0, 0.118} |
max CURRENT (double in [0 Amp, 20 Amp]) More... | |
const double | LEFT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE = 0.65 |
const double | LEFT_FOOT_FORCE_SENSOR_XYZ [3] = {0.0, 0.0, -0.0} |
const double | LEFT_FOOT_SOLE_XYZ [3] = {0.0, 0.0, -0.107} |
const double | LEFT_HAND_FORCE_SENSOR_MASS_PERCENTAGE = 0.75 |
const double | LEFT_HAND_FORCE_SENSOR_XYZ [3] = {0.005, 0.0, -0.051} |
const double | LEFT_HAND_FORCE_SENSOR_Z_ROTATION = -0.5 * M_PI |
const double | LEFT_HAND_GRIPPER_XYZ [3] = {0.0, 0.0, 0.02025} |
const double | RIGHT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE = 0.65 |
Percentage of mass of the link that is measured by the F/T sensors. More... | |
const double | RIGHT_FOOT_FORCE_SENSOR_XYZ [3] = {0.0, 0.0, -0.0} |
Position of the force/torque sensors w.r.t. the frame of the hosting link. More... | |
const double | RIGHT_FOOT_SOLE_XYZ [3] = {0.0, 0.0, -0.107} |
Position of the foot soles w.r.t. the frame of the foot. More... | |
const double | RIGHT_HAND_FORCE_SENSOR_MASS_PERCENTAGE = 0.75 |
const double | RIGHT_HAND_FORCE_SENSOR_XYZ [3] = {0.0, 0.0, -0.051} |
const double | RIGHT_HAND_FORCE_SENSOR_Z_ROTATION = -0.5 * M_PI |
Rotation angle around Z axis of the force/torque sensors w.r.t. the frame of the hosting link. More... | |
const double | RIGHT_HAND_GRIPPER_XYZ [3] = {0.0, 0.0, -0.02875} |
Position of the hand grippers w.r.t. the frame of the hand. More... | |
#define LEFT_FOOT_FRAME_NAME "LLEG_JOINT5" |
Definition at line 42 of file talos-common.hh.
#define N_JOINTS 32 |
Definition at line 39 of file talos-common.hh.
Referenced by dynamicgraph::sot::torque_control::config_sot_to_urdf(), dynamicgraph::sot::torque_control::config_urdf_to_sot(), dynamicgraph::sot::torque_control::joints_sot_to_urdf(), dynamicgraph::sot::torque_control::joints_urdf_to_sot(), dynamicgraph::sot::torque_control::velocity_sot_to_urdf(), and dynamicgraph::sot::torque_control::velocity_urdf_to_sot().
#define RIGHT_FOOT_FRAME_NAME "RLEG_JOINT5" |
Definition at line 41 of file talos-common.hh.
#define TALOSCOMMON_EXPORT |
Definition at line 20 of file talos-common.hh.