#include <sot/torque_control/inverse-dynamics-balance-controller.hh>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | InverseDynamicsBalanceController (const std::string &name) |
void | addLeftFootContact (const double &transitionTime) |
void | addRightFootContact (const double &transitionTime) |
void | addTaskLeftHand () |
void | addTaskRightHand () |
DECLARE_SIGNAL_IN (active_joints, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (base_orientation_ref_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (base_orientation_ref_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (base_orientation_ref_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (com_ref_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (com_ref_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (com_ref_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (contact_normal, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (contact_points, dynamicgraph::Matrix) | |
DECLARE_SIGNAL_IN (ddq_max, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (dq_max, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (dt_joint_pos_limits, double) | |
DECLARE_SIGNAL_IN (f_max_left_foot, double) | |
DECLARE_SIGNAL_IN (f_max_right_foot, double) | |
DECLARE_SIGNAL_IN (f_min, double) | |
DECLARE_SIGNAL_IN (f_ref_left_foot, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (f_ref_right_foot, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (gear_ratios, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kd_base_orientation, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kd_com, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kd_constraints, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kd_feet, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kd_hands, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kd_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kd_posture, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kp_base_orientation, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kp_com, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kp_constraints, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kp_feet, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kp_hands, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kp_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kp_posture, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (lf_ref_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (lf_ref_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (lf_ref_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (lh_ref_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (lh_ref_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (lh_ref_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (mu, double) | |
DECLARE_SIGNAL_IN (posture_ref_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (posture_ref_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (posture_ref_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (q, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (q_max, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (q_min, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (rf_ref_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (rf_ref_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (rf_ref_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (rh_ref_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (rh_ref_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (rh_ref_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (rotor_inertias, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (tau_estimated, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (tau_max, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (v, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (w_base_orientation, double) | |
DECLARE_SIGNAL_IN (w_com, double) | |
DECLARE_SIGNAL_IN (w_feet, double) | |
DECLARE_SIGNAL_IN (w_forces, double) | |
DECLARE_SIGNAL_IN (w_hands, double) | |
DECLARE_SIGNAL_IN (w_posture, double) | |
DECLARE_SIGNAL_IN (w_torques, double) | |
DECLARE_SIGNAL_IN (weight_contact_forces, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (wrench_base, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (wrench_left_foot, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (wrench_right_foot, dynamicgraph::Vector) | |
DECLARE_SIGNAL_INNER (active_joints_checked, dynamicgraph::Vector) | |
This signal copies active_joints only if it changes from a all false or to an all false value. More... | |
DECLARE_SIGNAL_OUT (base_orientation, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (com, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (com_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (com_acc_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (com_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (dv_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (f_des_left_foot, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (f_des_right_foot, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (left_foot_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (left_foot_acc_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (left_foot_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (left_foot_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (left_hand_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (left_hand_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (left_hand_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (M, dynamicgraph::Matrix) | |
DECLARE_SIGNAL_OUT (right_foot_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (right_foot_acc_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (right_foot_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (right_foot_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (right_hand_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (right_hand_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (right_hand_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (tau_des, dynamicgraph::Vector) | |
mask with 1 for controlled joints, 0 otherwise More... | |
DECLARE_SIGNAL_OUT (zmp, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (zmp_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (zmp_des_left_foot, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (zmp_des_left_foot_local, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (zmp_des_right_foot, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (zmp_des_right_foot_local, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (zmp_left_foot, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (zmp_ref, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (zmp_right_foot, dynamicgraph::Vector) | |
virtual void | display (std::ostream &os) const |
void | init (const double &dt, const std::string &robotRef) |
void | removeLeftFootContact (const double &transitionTime) |
void | removeRightFootContact (const double &transitionTime) |
void | removeTaskLeftHand (const double &transitionTime) |
void | removeTaskRightHand (const double &transitionTime) |
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0) |
void | updateComOffset () |
Protected Types | |
enum | ContactState { DOUBLE_SUPPORT = 0 , LEFT_SUPPORT = 1 , LEFT_SUPPORT_TRANSITION = 2 , RIGHT_SUPPORT = 3 , RIGHT_SUPPORT_TRANSITION = 4 } |
True at the first iteration of the controller. More... | |
enum | LeftHandState { TASK_LEFT_HAND_ON = 0 , TASK_LEFT_HAND_OFF = 1 } |
typedef pinocchio::Data::Matrix6x | Matrix6x |
enum | RightHandState { TASK_RIGHT_HAND_ON = 0 , TASK_RIGHT_HAND_OFF = 1 } |
end time of the current contact transition (if any) More... | |
Protected Attributes | |
tsid::math::Vector3 | m_com_offset |
desired 6d wrench left foot More... | |
tsid::contacts::Contact6d * | m_contactLF |
tsid::contacts::Contact6d * | m_contactLH |
tsid::contacts::Contact6d * | m_contactRF |
tsid::contacts::Contact6d * | m_contactRH |
ContactState | m_contactState |
double | m_contactTransitionTime |
double | m_dt |
tsid::math::Vector | m_dv_sot |
tsid::math::Vector | m_dv_urdf |
desired accelerations (sot order) More... | |
bool | m_enabled |
true if the entity has been successfully initialized More... | |
tsid::math::Vector | m_f |
desired accelerations (urdf order) More... | |
tsid::math::Vector6 | m_f_LF |
desired 6d wrench right foot More... | |
tsid::math::Vector6 | m_f_RF |
desired force coefficients (24d) More... | |
bool | m_firstTime |
True if controler is enabled. More... | |
int | m_frame_id_lf |
frame id of right foot More... | |
int | m_frame_id_lh |
frame id of right hand More... | |
int | m_frame_id_rf |
end time of the current transition (if any) More... | |
int | m_frame_id_rh |
frame id of left foot More... | |
tsid::solvers::SolverHQPBase * | m_hqpSolver |
tsid::solvers::SolverHQPBase * | m_hqpSolver_48_30_17 |
tsid::solvers::SolverHQPBase * | m_hqpSolver_60_36_34 |
bool | m_initSucceeded |
tsid::InverseDynamicsFormulationAccForce * | m_invDyn |
Matrix6x | m_J_LF |
Eigen::ColPivHouseholderQR< Matrix6x > | m_J_LF_QR |
Matrix6x | m_J_RF |
Eigen::ColPivHouseholderQR< Matrix6x > | m_J_RF_QR |
LeftHandState | m_leftHandState |
tsid::math::Vector | m_q_urdf |
RightHandState | m_rightHandState |
tsid::robots::RobotWrapper * | m_robot |
frame id of left hand More... | |
RobotUtilShrPtr | m_robot_util |
tsid::trajectories::TrajectorySample | m_sampleCom |
tsid::trajectories::TrajectorySample | m_sampleLF |
tsid::trajectories::TrajectorySample | m_sampleLH |
tsid::trajectories::TrajectorySample | m_samplePosture |
tsid::trajectories::TrajectorySample | m_sampleRF |
tsid::trajectories::TrajectorySample | m_sampleRH |
double | m_t |
control loop time period More... | |
tsid::tasks::TaskJointPosture * | m_taskBlockedJoints |
tsid::tasks::TaskComEquality * | m_taskCom |
tsid::tasks::TaskSE3Equality * | m_taskLF |
tsid::tasks::TaskSE3Equality * | m_taskLH |
tsid::tasks::TaskJointPosture * | m_taskPosture |
tsid::tasks::TaskSE3Equality * | m_taskRF |
tsid::tasks::TaskSE3Equality * | m_taskRH |
tsid::math::Vector | m_tau_sot |
3d global zmp More... | |
unsigned int | m_timeLast |
tsid::math::Vector6 | m_v_LF_int |
tsid::math::Vector6 | m_v_RF_int |
tsid::math::Vector | m_v_urdf |
double | m_w_com |
double | m_w_hands |
double | m_w_posture |
tsid::math::Vector3 | m_zmp |
3d zmp left foot More... | |
tsid::math::Vector3 | m_zmp_des |
3d desired zmp left foot expressed in local frame More... | |
tsid::math::Vector3 | m_zmp_des_LF |
3d CoM offset More... | |
tsid::math::Vector3 | m_zmp_des_LF_local |
3d desired zmp left foot More... | |
tsid::math::Vector3 | m_zmp_des_RF |
3d desired zmp left foot More... | |
tsid::math::Vector3 | m_zmp_des_RF_local |
3d desired zmp left foot expressed in local frame More... | |
tsid::math::Vector3 | m_zmp_LF |
3d desired global zmp More... | |
tsid::math::Vector3 | m_zmp_RF |
3d zmp left foot More... | |
Definition at line 57 of file inverse-dynamics-balance-controller.hh.
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protected |
Definition at line 282 of file inverse-dynamics-balance-controller.hh.
|
protected |
True at the first iteration of the controller.
Enumerator | |
---|---|
DOUBLE_SUPPORT | |
LEFT_SUPPORT | |
LEFT_SUPPORT_TRANSITION | |
RIGHT_SUPPORT | |
RIGHT_SUPPORT_TRANSITION |
Definition at line 204 of file inverse-dynamics-balance-controller.hh.
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protected |
Enumerator | |
---|---|
TASK_LEFT_HAND_ON | |
TASK_LEFT_HAND_OFF |
Definition at line 221 of file inverse-dynamics-balance-controller.hh.
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protected |
end time of the current contact transition (if any)
Enumerator | |
---|---|
TASK_RIGHT_HAND_ON | |
TASK_RIGHT_HAND_OFF |
Definition at line 214 of file inverse-dynamics-balance-controller.hh.
InverseDynamicsBalanceController | ( | const std::string & | name | ) |
Definition at line 201 of file inverse-dynamics-balance-controller.cpp.
void addLeftFootContact | ( | const double & | transitionTime | ) |
Definition at line 443 of file inverse-dynamics-balance-controller.cpp.
void addRightFootContact | ( | const double & | transitionTime | ) |
Definition at line 433 of file inverse-dynamics-balance-controller.cpp.
void addTaskLeftHand | ( | ) |
Definition at line 417 of file inverse-dynamics-balance-controller.cpp.
void addTaskRightHand | ( | ) |
Definition at line 401 of file inverse-dynamics-balance-controller.cpp.
DECLARE_SIGNAL_IN | ( | active_joints | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | base_orientation_ref_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | base_orientation_ref_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | base_orientation_ref_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | com_ref_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | com_ref_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | com_ref_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | contact_normal | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | contact_points | , |
dynamicgraph::Matrix | |||
) |
DECLARE_SIGNAL_IN | ( | ddq_max | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | dq_max | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | dt_joint_pos_limits | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | f_max_left_foot | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | f_max_right_foot | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | f_min | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | f_ref_left_foot | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | f_ref_right_foot | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | gear_ratios | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kd_base_orientation | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kd_com | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kd_constraints | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kd_feet | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kd_hands | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kd_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kd_posture | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kp_base_orientation | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kp_com | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kp_constraints | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kp_feet | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kp_hands | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kp_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kp_posture | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | lf_ref_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | lf_ref_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | lf_ref_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | lh_ref_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | lh_ref_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | lh_ref_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | mu | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | posture_ref_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | posture_ref_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | posture_ref_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | q | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | q_max | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | q_min | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | rf_ref_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | rf_ref_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | rf_ref_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | rh_ref_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | rh_ref_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | rh_ref_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | rotor_inertias | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | tau_estimated | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | tau_max | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | v | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | w_base_orientation | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | w_com | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | w_feet | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | w_forces | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | w_hands | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | w_posture | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | w_torques | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | weight_contact_forces | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | wrench_base | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | wrench_left_foot | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | wrench_right_foot | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_INNER | ( | active_joints_checked | , |
dynamicgraph::Vector | |||
) |
This signal copies active_joints only if it changes from a all false or to an all false value.
DECLARE_SIGNAL_OUT | ( | base_orientation | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | com | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | com_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | com_acc_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | com_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | dv_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | f_des_left_foot | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | f_des_right_foot | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | left_foot_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | left_foot_acc_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | left_foot_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | left_foot_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | left_hand_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | left_hand_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | left_hand_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | M | , |
dynamicgraph::Matrix | |||
) |
DECLARE_SIGNAL_OUT | ( | right_foot_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | right_foot_acc_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | right_foot_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | right_foot_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | right_hand_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | right_hand_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | right_hand_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | tau_des | , |
dynamicgraph::Vector | |||
) |
mask with 1 for controlled joints, 0 otherwise
DECLARE_SIGNAL_OUT | ( | zmp | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | zmp_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | zmp_des_left_foot | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | zmp_des_left_foot_local | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | zmp_des_right_foot | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | zmp_des_right_foot_local | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | zmp_left_foot | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | zmp_ref | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | zmp_right_foot | , |
dynamicgraph::Vector | |||
) |
|
virtual |
Definition at line 1382 of file inverse-dynamics-balance-controller.cpp.
void init | ( | const double & | dt, |
const std::string & | robotRef | ||
) |
Definition at line 469 of file inverse-dynamics-balance-controller.cpp.
void removeLeftFootContact | ( | const double & | transitionTime | ) |
Definition at line 382 of file inverse-dynamics-balance-controller.cpp.
void removeRightFootContact | ( | const double & | transitionTime | ) |
Definition at line 363 of file inverse-dynamics-balance-controller.cpp.
void removeTaskLeftHand | ( | const double & | transitionTime | ) |
Definition at line 461 of file inverse-dynamics-balance-controller.cpp.
void removeTaskRightHand | ( | const double & | transitionTime | ) |
Definition at line 453 of file inverse-dynamics-balance-controller.cpp.
|
inline |
Definition at line 193 of file inverse-dynamics-balance-controller.hh.
void updateComOffset | ( | ) |
Definition at line 356 of file inverse-dynamics-balance-controller.cpp.
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protected |
desired 6d wrench left foot
Definition at line 269 of file inverse-dynamics-balance-controller.hh.
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protected |
Definition at line 242 of file inverse-dynamics-balance-controller.hh.
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protected |
Definition at line 244 of file inverse-dynamics-balance-controller.hh.
|
protected |
Definition at line 241 of file inverse-dynamics-balance-controller.hh.
|
protected |
Definition at line 243 of file inverse-dynamics-balance-controller.hh.
|
protected |
Definition at line 211 of file inverse-dynamics-balance-controller.hh.
|
protected |
Definition at line 212 of file inverse-dynamics-balance-controller.hh.
|
protected |
Definition at line 198 of file inverse-dynamics-balance-controller.hh.
|
protected |
Definition at line 264 of file inverse-dynamics-balance-controller.hh.
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protected |
desired accelerations (sot order)
Definition at line 265 of file inverse-dynamics-balance-controller.hh.
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protected |
true if the entity has been successfully initialized
Definition at line 201 of file inverse-dynamics-balance-controller.hh.
|
protected |
desired accelerations (urdf order)
Definition at line 266 of file inverse-dynamics-balance-controller.hh.
|
protected |
desired 6d wrench right foot
Definition at line 268 of file inverse-dynamics-balance-controller.hh.
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desired force coefficients (24d)
Definition at line 267 of file inverse-dynamics-balance-controller.hh.
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True if controler is enabled.
Definition at line 202 of file inverse-dynamics-balance-controller.hh.
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frame id of right foot
Definition at line 230 of file inverse-dynamics-balance-controller.hh.
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frame id of right hand
Definition at line 233 of file inverse-dynamics-balance-controller.hh.
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end time of the current transition (if any)
Definition at line 229 of file inverse-dynamics-balance-controller.hh.
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frame id of left foot
Definition at line 232 of file inverse-dynamics-balance-controller.hh.
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Definition at line 237 of file inverse-dynamics-balance-controller.hh.
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Definition at line 239 of file inverse-dynamics-balance-controller.hh.
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Definition at line 238 of file inverse-dynamics-balance-controller.hh.
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Definition at line 200 of file inverse-dynamics-balance-controller.hh.
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Definition at line 240 of file inverse-dynamics-balance-controller.hh.
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Definition at line 284 of file inverse-dynamics-balance-controller.hh.
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Definition at line 286 of file inverse-dynamics-balance-controller.hh.
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Definition at line 283 of file inverse-dynamics-balance-controller.hh.
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Definition at line 285 of file inverse-dynamics-balance-controller.hh.
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Definition at line 226 of file inverse-dynamics-balance-controller.hh.
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Definition at line 279 of file inverse-dynamics-balance-controller.hh.
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Definition at line 219 of file inverse-dynamics-balance-controller.hh.
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protected |
Definition at line 291 of file inverse-dynamics-balance-controller.hh.
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Definition at line 253 of file inverse-dynamics-balance-controller.hh.
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Definition at line 255 of file inverse-dynamics-balance-controller.hh.
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Definition at line 257 of file inverse-dynamics-balance-controller.hh.
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Definition at line 258 of file inverse-dynamics-balance-controller.hh.
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Definition at line 254 of file inverse-dynamics-balance-controller.hh.
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Definition at line 256 of file inverse-dynamics-balance-controller.hh.
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control loop time period
Definition at line 199 of file inverse-dynamics-balance-controller.hh.
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Definition at line 251 of file inverse-dynamics-balance-controller.hh.
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Definition at line 245 of file inverse-dynamics-balance-controller.hh.
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Definition at line 247 of file inverse-dynamics-balance-controller.hh.
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Definition at line 249 of file inverse-dynamics-balance-controller.hh.
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Definition at line 250 of file inverse-dynamics-balance-controller.hh.
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Definition at line 246 of file inverse-dynamics-balance-controller.hh.
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Definition at line 248 of file inverse-dynamics-balance-controller.hh.
|
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3d global zmp
Definition at line 278 of file inverse-dynamics-balance-controller.hh.
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Definition at line 290 of file inverse-dynamics-balance-controller.hh.
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Definition at line 288 of file inverse-dynamics-balance-controller.hh.
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Definition at line 287 of file inverse-dynamics-balance-controller.hh.
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Definition at line 280 of file inverse-dynamics-balance-controller.hh.
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Definition at line 260 of file inverse-dynamics-balance-controller.hh.
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Definition at line 262 of file inverse-dynamics-balance-controller.hh.
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Definition at line 261 of file inverse-dynamics-balance-controller.hh.
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3d zmp left foot
Definition at line 277 of file inverse-dynamics-balance-controller.hh.
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3d desired zmp left foot expressed in local frame
Definition at line 274 of file inverse-dynamics-balance-controller.hh.
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3d CoM offset
Definition at line 270 of file inverse-dynamics-balance-controller.hh.
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3d desired zmp left foot
Definition at line 272 of file inverse-dynamics-balance-controller.hh.
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3d desired zmp left foot
Definition at line 271 of file inverse-dynamics-balance-controller.hh.
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3d desired zmp left foot expressed in local frame
Definition at line 273 of file inverse-dynamics-balance-controller.hh.
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3d desired global zmp
Definition at line 275 of file inverse-dynamics-balance-controller.hh.
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3d zmp left foot
Definition at line 276 of file inverse-dynamics-balance-controller.hh.