10 #ifndef __SOT_SOTGRIPPERCONTROL_H__
11 #define __SOT_SOTGRIPPERCONTROL_H__
18 #include <dynamic-graph/linear-algebra.h>
21 #include <dynamic-graph/all-signals.h>
22 #include <dynamic-graph/entity.h>
33 #if defined(gripper_control_EXPORTS)
34 #define SOTGRIPPERCONTROL_EXPORT __declspec(dllexport)
36 #define SOTGRIPPERCONTROL_EXPORT __declspec(dllimport)
39 #define SOTGRIPPERCONTROL_EXPORT
69 const dynamicgraph::Vector &torqueLimits,
70 const dynamicgraph::Vector ¤tNormVel);
73 dynamicgraph::Vector &
75 const dynamicgraph::Vector &desiredPos,
76 const dynamicgraph::Vector &torques,
77 const dynamicgraph::Vector &torqueLimits,
78 dynamicgraph::Vector &referencePos);
84 static dynamicgraph::Vector &
selector(
const dynamicgraph::Vector &fullsize,
86 dynamicgraph::Vector &desPos);
94 :
public dynamicgraph::Entity,
96 DYNAMIC_GRAPH_ENTITY_DECL();
112 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
torqueSIN;
118 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
123 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
127 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
Definition: gripper-control.hh:95
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > desiredPositionSOUT
Definition: gripper-control.hh:128
virtual std::string getDocString() const
virtual ~GripperControlPlugin(void)
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > torqueLimitReduceSOUT
Definition: gripper-control.hh:124
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionFullSizeSIN
Definition: gripper-control.hh:117
bool calibrationStarted
Definition: gripper-control.hh:99
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > torqueSIN
Definition: gripper-control.hh:112
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionSIN
Definition: gripper-control.hh:110
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > torqueReduceSOUT
Definition: gripper-control.hh:121
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > torqueLimitFullSizeSIN
Definition: gripper-control.hh:122
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > positionReduceSOUT
Definition: gripper-control.hh:119
void setOffset(const double &value)
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionDesSIN
Definition: gripper-control.hh:111
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > torqueLimitSIN
Definition: gripper-control.hh:113
dynamicgraph::SignalPtr< Flags, int > selectionSIN
Definition: gripper-control.hh:114
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > torqueFullSizeSIN
Definition: gripper-control.hh:120
GripperControlPlugin(const std::string &name)
The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping t...
Definition: gripper-control.hh:55
double offset
Definition: gripper-control.hh:57
static const double OFFSET_DEFAULT
Definition: gripper-control.hh:58
dynamicgraph::Vector factor
The multiplication.
Definition: gripper-control.hh:60
dynamicgraph::Vector & computeDesiredPosition(const dynamicgraph::Vector ¤tPos, const dynamicgraph::Vector &desiredPos, const dynamicgraph::Vector &torques, const dynamicgraph::Vector &torqueLimits, dynamicgraph::Vector &referencePos)
void computeIncrement(const dynamicgraph::Vector &torques, const dynamicgraph::Vector &torqueLimits, const dynamicgraph::Vector ¤tNormVel)
Computes the.
static dynamicgraph::Vector & selector(const dynamicgraph::Vector &fullsize, const Flags &selec, dynamicgraph::Vector &desPos)
select only some of the values of the vector fullsize, based on the Flags vector.
#define SOTGRIPPERCONTROL_EXPORT
Definition: gripper-control.hh:39
Definition: abstract-sot-external-interface.hh:17