8 #if defined(force_torque_estimator_EXPORTS)
9 #define SOTFORCETORQUEESTIMATOR_EXPORT __declspec(dllexport)
11 #define SOTFORCETORQUEESTIMATOR_EXPORT __declspec(dllimport)
14 #define SOTFORCETORQUEESTIMATOR_EXPORT
22 double getCurrent(
double torque,
double dq,
double ddq,
double Kt_p,
double Kt_n,
double Kf_p = 0.0,
23 double Kf_n = 0.0,
double Kv_p = 0.0,
double Kv_n = 0.0,
double Ka_p = 0.0,
double Ka_n = 0.0,
24 unsigned int poly = 3);
26 double getTorque(
double current,
double dq,
double ddq,
double Kt_p,
double Kt_n,
double Kf_p = 0.0,
27 double Kf_n = 0.0,
double Kv_p = 0.0,
double Kv_n = 0.0,
double Ka_p = 0.0,
double Ka_n = 0.0,
28 unsigned int poly = 3);
29 double smoothSign(
double value,
double threshold,
unsigned int poly = 3);
double smoothSign(double value, double threshold, unsigned int poly=3)
double getTorque(double current, double dq, double ddq, double Kt_p, double Kt_n, double Kf_p=0.0, double Kf_n=0.0, double Kv_p=0.0, double Kv_n=0.0, double Ka_p=0.0, double Ka_n=0.0, unsigned int poly=3)
double getCurrent(double torque, double dq, double ddq, double Kt_p, double Kt_n, double Kf_p=0.0, double Kf_n=0.0, double Kv_p=0.0, double Kv_n=0.0, double Ka_p=0.0, double Ka_n=0.0, unsigned int poly=3)