16 #include <pinocchio/fwd.hpp>
19 #include <dynamic-graph/linear-algebra.h>
24 #include <dynamic-graph/all-signals.h>
25 #include <dynamic-graph/entity.h>
48 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
63 bool withForceSignals[4];
84 virtual void setState(
const dynamicgraph::Vector &st);
113 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
controlSIN;
115 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
zmpSIN;
119 dynamicgraph::Signal<dynamicgraph::Vector, int>
stateSOUT;
139 dynamicgraph::Signal<dynamicgraph::Vector, int> *forcesSOUT[4];
148 const dynamicgraph::Vector &control,
double dt);
170 virtual void setRoot(
const dynamicgraph::Matrix &root);
176 dynamicgraph::Vector forceZero6;
#define SOT_CORE_EXPORT
Definition: api.hh:20
virtual void integrate(const double &dt)
dynamicgraph::Vector vel_control_
Definition: device.hh:61
PeriodicCall & periodicCallBefore()
Definition: device.hh:100
virtual void setNoIntegration()
virtual void increment(const double &dt=5e-2)
dynamicgraph::Signal< dynamicgraph::Vector, int > pseudoTorqueSOUT
Definition: device.hh:142
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > zmpSIN
Definition: device.hh:115
dynamicgraph::Signal< dynamicgraph::Vector, int > motorcontrolSOUT
The current state of the robot from the command viewpoint.
Definition: device.hh:123
virtual void cmdDisplay()
virtual void setSecondOrderIntegration()
virtual void display(std::ostream &os) const
Vector upperPosition_
Definition: device.hh:70
Vector upperTorque_
Definition: device.hh:72
const MatrixHomogeneous & freeFlyerPose() const
Get freeflyer pose.
Device(const std::string &name)
ControlInput controlInputType_
Definition: device.hh:62
virtual void setRoot(const dynamicgraph::Matrix &root)
dynamicgraph::Signal< dynamicgraph::Vector, int > robotState_
Definition: device.hh:135
static const std::string CLASS_NAME
Definition: device.hh:47
MatrixHomogeneous ffPose_
Store Position of free flyer joint.
Definition: device.hh:150
void integrateRollPitchYaw(dynamicgraph::Vector &state, const dynamicgraph::Vector &control, double dt)
Compute roll pitch yaw angles of freeflyer joint.
virtual void setStateSize(const unsigned int &size)
void setSanityCheck(const bool &enableCheck)
virtual void setVelocity(const dynamicgraph::Vector &vel)
PeriodicCall periodicCallAfter_
Definition: device.hh:65
Vector lowerPosition_
Definition: device.hh:73
bool sanityCheck_
Definition: device.hh:60
void setVelocityBounds(const Vector &lower, const Vector &upper)
virtual void setState(const dynamicgraph::Vector &st)
virtual void setControlInputType(const std::string &cit)
dynamicgraph::Signal< dynamicgraph::Vector, int > robotVelocity_
Motor velocities.
Definition: device.hh:137
virtual void setRoot(const MatrixHomogeneous &worldMwaist)
void setTorqueBounds(const Vector &lower, const Vector &upper)
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > attitudeSIN
Definition: device.hh:114
dynamicgraph::Signal< dynamicgraph::Vector, int > ZMPPreviousControllerSOUT
The ZMP reference send by the previous controller.
Definition: device.hh:126
dynamicgraph::Vector velocity_
Definition: device.hh:59
dynamicgraph::Signal< dynamicgraph::Vector, int > previousControlSOUT
Definition: device.hh:124
Vector upperVelocity_
Definition: device.hh:71
SOT_CORE_EXPORT friend std::ostream & operator<<(std::ostream &os, const Device &r)
Definition: device.hh:106
dynamicgraph::Signal< MatrixRotation, int > attitudeSOUT
Definition: device.hh:121
virtual const std::string & getClassName(void) const
Definition: device.hh:48
void setVelocitySize(const unsigned int &size)
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > controlSIN
Definition: device.hh:113
dynamicgraph::Vector state_
Definition: device.hh:58
PeriodicCall periodicCallBefore_
Definition: device.hh:64
PeriodicCall & periodicCallAfter()
Definition: device.hh:101
dynamicgraph::Signal< dynamicgraph::Vector, int > stateSOUT
Definition: device.hh:119
double timestep_
Definition: device.hh:66
void setPositionBounds(const Vector &lower, const Vector &upper)
Vector lowerTorque_
Definition: device.hh:75
dynamicgraph::Signal< dynamicgraph::Vector, int > velocitySOUT
Definition: device.hh:120
ForceSignalSource
Definition: device.hh:50
@ FORCE_SIGNAL_RARM
Definition: device.hh:53
@ FORCE_SIGNAL_RLEG
Definition: device.hh:51
@ FORCE_SIGNAL_LLEG
Definition: device.hh:52
Vector lowerVelocity_
Definition: device.hh:74
Definition: periodic-call.hh:36
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:74
ControlInput
Define the type of input expected by the robot.
Definition: device.hh:32
@ CONTROL_INPUT_NO_INTEGRATION
Definition: device.hh:33
@ CONTROL_INPUT_ONE_INTEGRATION
Definition: device.hh:34
@ CONTROL_INPUT_TWO_INTEGRATION
Definition: device.hh:35
@ CONTROL_INPUT_SIZE
Definition: device.hh:36
const std::string ControlInput_s[]
Definition: device.hh:39
Definition: abstract-sot-external-interface.hh:17