sot-torque-control  1.6.2
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
dynamicgraph::sot::torque_control Namespace Reference

Classes

class  AbstractTrajectoryGenerator
 
class  AdmittanceController
 
class  BaseEstimator
 
class  ConstantAccelerationTrajectoryGenerator
 
class  ControlManager
 
class  CtrlMode
 
class  CurrentController
 
class  DdpActuatorSolver
 
class  DdpPyreneActuatorSolver
 
class  DeviceTorqueCtrl
 
class  FreeFlyerLocator
 
class  ImuOffsetCompensation
 
class  InverseDynamicsBalanceController
 
class  JointTorqueController
 
class  JointTrajectoryGenerator
 
class  LinearChirpTrajectoryGenerator
 
class  MinimumJerkTrajectoryGenerator
 
class  MotorModel
 
class  NoTrajectoryGenerator
 
class  NumericalDifference
 
class  PositionController
 
class  SE3TrajectoryGenerator
 
class  SimpleInverseDyn
 
class  SinusoidTrajectoryGenerator
 
class  TextFileTrajectoryGenerator
 
class  TorqueOffsetEstimator
 
class  TracePlayer
 Entity to play data saved using a Tracer. More...
 
class  TriangleTrajectoryGenerator
 

Typedefs

typedef int dummy
 
typedef AdmittanceController EntityClassName
 
typedef SolverHQuadProgRT< 48, 30, 17 > SolverHQuadProgRT48x30x17
 
typedef SolverHQuadProgRT< 60, 36, 34 > SolverHQuadProgRT60x36x34
 
typedef Eigen::Matrix< double, 2, 1 > Vector2
 
typedef Eigen::Matrix< double, 3, 1 > Vector3
 
typedef Eigen::Matrix< double, 6, 1 > Vector6
 
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > VectorN
 
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > VectorN6
 

Enumerations

enum  ControlOutput { CONTROL_OUTPUT_VELOCITY = 0 , CONTROL_OUTPUT_TORQUE = 1 , CONTROL_OUTPUT_SIZE = 2 }
 

Functions

 DEFINE_SIGNAL_INNER_FUNCTION (active_joints_checked, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (collectSensorData, dummy)
 
 DEFINE_SIGNAL_INNER_FUNCTION (kinematics_computations, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (x_dx_ddx, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (a_ac, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (accelerometer_out, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (base6dFromFoot_encoders, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (base_orientation, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (com, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (com_acc, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (com_acc_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (com_vel, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ddq, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ddx, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dead_zone_compensation, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dq, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dqDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dv_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dx, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (f_des_left_foot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (f_des_right_foot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (fLeftFoot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (fLeftHand, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (freeflyer_aa, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (fRightFoot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (fRightHand, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (gyrometer_out, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (i_errors, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (i_errors_ll_wo_bemf, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (i_low_level, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (i_real, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (i_sensor_offsets_real_out, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (jointTorquesEstimated, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_foot_acc, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_foot_acc_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_foot_pos, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_foot_vel, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_hand_acc, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_hand_pos, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_hand_vel, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (lf_xyzquat, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (M, dynamicgraph::Matrix)
 
 DEFINE_SIGNAL_OUT_FUNCTION (pwmDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_imu, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_lf, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_rf, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (qError, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (rf_xyzquat, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_foot_acc, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_foot_acc_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_foot_pos, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_foot_vel, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_hand_acc, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_hand_pos, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_hand_vel, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (smoothSignDq, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (tau, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (tau_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (torque_error_integral, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (trigger, int)
 
 DEFINE_SIGNAL_OUT_FUNCTION (u, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (u_safe, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_ac, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_flex, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_gyr, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_imu, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_kin, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vDesLeftFoot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vDesRightFoot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_lf, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_lf_filtered, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_rf, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_rf_filtered, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (x, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (x_filtered, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_des_left_foot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_des_left_foot_local, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_des_right_foot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_des_right_foot_local, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_left_foot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_ref, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp_right_foot, dynamicgraph::Vector)
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (AdmittanceController, "AdmittanceController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (BaseEstimator, "BaseEstimator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ControlManager, "ControlManager")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (CurrentController, "CurrentController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DdpActuatorSolver, "DdpActuatorSolver")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DdpPyreneActuatorSolver, "DdpPyreneActuatorSolver")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FreeFlyerLocator, "FreeFlyerLocator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ImuOffsetCompensation, "ImuOffsetCompensation")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (InverseDynamicsBalanceController, "InverseDynamicsBalanceController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (JointTorqueController, "JointTorqueController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (JointTrajectoryGenerator, "JointTrajectoryGenerator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (NumericalDifference, "NumericalDifference")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (PositionController, "PositionController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SE3TrajectoryGenerator, "SE3TrajectoryGenerator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleInverseDyn, "SimpleInverseDyn")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (TorqueOffsetEstimator, "TorqueOffsetEstimator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (TracePlayer, "TracePlayer")
 
void matrixToRpy (const Eigen::Matrix3d &M, Eigen::Vector3d &rpy)
 
std::ostream & operator<< (std::ostream &os, const CtrlMode &s)
 
void pointRotationByQuaternion (const Eigen::Vector3d &point, const Eigen::Vector4d &quat, Eigen::Vector3d &rotatedPoint)
 
void quanternionMult (const Eigen::Vector4d &q1, const Eigen::Vector4d &q2, Eigen::Vector4d &q12)
 
Eigen::MatrixXd readMatrixFromFile (const char *filename)
 
void rpyToMatrix (const Eigen::Vector3d &rpy, Eigen::Matrix3d &R)
 
void rpyToMatrix (double r, double p, double y, Eigen::Matrix3d &R)
 
void se3Interp (const pinocchio::SE3 &s1, const pinocchio::SE3 &s2, const double alpha, pinocchio::SE3 &s12)
 
VectorXd svdSolveWithDamping (const JacobiSVD< MatrixXd > &A, const VectorXd &b, double damping)
 

Variables

const std::string ControlOutput_s [] = {"velocity", "torque"}
 

Typedef Documentation

◆ dummy

typedef int dummy

Definition at line 30 of file torque-offset-estimator.cpp.

◆ EntityClassName

Define EntityClassName here rather than in the header file so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION.

Definition at line 44 of file admittance-controller.cpp.

◆ SolverHQuadProgRT48x30x17

typedef SolverHQuadProgRT<48, 30, 17> SolverHQuadProgRT48x30x17

Definition at line 75 of file inverse-dynamics-balance-controller.cpp.

◆ SolverHQuadProgRT60x36x34

typedef SolverHQuadProgRT<60, 36, 34> SolverHQuadProgRT60x36x34

Definition at line 74 of file inverse-dynamics-balance-controller.cpp.

◆ Vector2

typedef Eigen::Matrix< double, 2, 1 > Vector2

Definition at line 192 of file inverse-dynamics-balance-controller.cpp.

◆ Vector3

typedef Eigen::Matrix<double, 3, 1> Vector3

Definition at line 46 of file admittance-controller.cpp.

◆ Vector6

typedef dynamicgraph::sot::Vector6d Vector6

Definition at line 47 of file admittance-controller.cpp.

◆ VectorN

typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > VectorN

Definition at line 193 of file inverse-dynamics-balance-controller.cpp.

◆ VectorN6

typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > VectorN6

Definition at line 194 of file inverse-dynamics-balance-controller.cpp.

Enumeration Type Documentation

◆ ControlOutput

Enumerator
CONTROL_OUTPUT_VELOCITY 
CONTROL_OUTPUT_TORQUE 
CONTROL_OUTPUT_SIZE 

Definition at line 65 of file simple-inverse-dyn.hh.

Function Documentation

◆ DEFINE_SIGNAL_INNER_FUNCTION() [1/4]

DEFINE_SIGNAL_INNER_FUNCTION ( active_joints_checked  ,
dynamicgraph::Vector   
)

Copy active_joints only if a valid transition occurs. (From all OFF) or (To all OFF)

Definition at line 608 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [2/4]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION ( collectSensorData  ,
dummy   
)

Definition at line 127 of file torque-offset-estimator.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [3/4]

DEFINE_SIGNAL_INNER_FUNCTION ( kinematics_computations  ,
dynamicgraph::Vector   
)

Definition at line 461 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [4/4]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION ( x_dx_ddx  ,
dynamicgraph::Vector   
)

Signal Filtering and Differentiation.

Definition at line 86 of file numerical-difference.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [1/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( a_ac  ,
dynamicgraph::Vector   
)

Definition at line 1028 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [2/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( accelerometer_out  ,
dynamicgraph::Vector   
)

Definition at line 169 of file imu_offset_compensation.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [3/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( base6dFromFoot_encoders  ,
dynamicgraph::Vector   
)

Definition at line 131 of file free-flyer-locator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [4/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( base_orientation  ,
dynamicgraph::Vector   
)

Definition at line 1187 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [5/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( com  ,
dynamicgraph::Vector   
)

Definition at line 1161 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [6/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( com_acc  ,
dynamicgraph::Vector   
)

Definition at line 961 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [7/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( com_acc_des  ,
dynamicgraph::Vector   
)

Definition at line 950 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [8/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( com_vel  ,
dynamicgraph::Vector   
)

Definition at line 1174 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [9/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( ddq  ,
dynamicgraph::Vector   
)

Definition at line 268 of file joint-trajectory-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [10/84]

DEFINE_SIGNAL_OUT_FUNCTION ( ddx  ,
dynamicgraph::Vector   
)

Definition at line 130 of file numerical-difference.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [11/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( dead_zone_compensation  ,
dynamicgraph::Vector   
)

Definition at line 283 of file current-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [12/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( dq  ,
dynamicgraph::Vector   
)

Definition at line 253 of file joint-trajectory-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [13/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( dqDes  ,
dynamicgraph::Vector   
)

*** Compute all Jacobians ***

Compute admittance control law

Definition at line 187 of file admittance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [14/84]

DEFINE_SIGNAL_OUT_FUNCTION ( dv_des  ,
dynamicgraph::Vector   
)

Definition at line 909 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [15/84]

DEFINE_SIGNAL_OUT_FUNCTION ( dx  ,
dynamicgraph::Vector   
)

Definition at line 121 of file numerical-difference.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [16/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( f_des_left_foot  ,
dynamicgraph::Vector   
)

Definition at line 935 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [17/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( f_des_right_foot  ,
dynamicgraph::Vector   
)

Definition at line 920 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [18/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( fLeftFoot  ,
dynamicgraph::Vector   
)

Definition at line 291 of file joint-trajectory-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [19/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( fLeftHand  ,
dynamicgraph::Vector   
)

Definition at line 303 of file joint-trajectory-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [20/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( freeflyer_aa  ,
dynamicgraph::Vector   
)

Definition at line 167 of file free-flyer-locator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [21/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( fRightFoot  ,
dynamicgraph::Vector   
)

Definition at line 284 of file joint-trajectory-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [22/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( fRightHand  ,
dynamicgraph::Vector   
)

Definition at line 297 of file joint-trajectory-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [23/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( gyrometer_out  ,
dynamicgraph::Vector   
)

Definition at line 183 of file imu_offset_compensation.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [24/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( i_errors  ,
dynamicgraph::Vector   
)

Definition at line 294 of file current-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [25/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( i_errors_ll_wo_bemf  ,
dynamicgraph::Vector   
)

Definition at line 305 of file current-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [26/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( i_low_level  ,
dynamicgraph::Vector   
)

Definition at line 235 of file current-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [27/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( i_real  ,
dynamicgraph::Vector   
)

Definition at line 217 of file current-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [28/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( i_sensor_offsets_real_out  ,
dynamicgraph::Vector   
)

Definition at line 250 of file current-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [29/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( jointTorquesEstimated  ,
dynamicgraph::Vector   
)

Definition at line 193 of file torque-offset-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [30/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( left_foot_acc  ,
dynamicgraph::Vector   
)

Definition at line 1304 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [31/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( left_foot_acc_des  ,
dynamicgraph::Vector   
)

Definition at line 1350 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [32/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( left_foot_pos  ,
dynamicgraph::Vector   
)

Definition at line 1200 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [33/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( left_foot_vel  ,
dynamicgraph::Vector   
)

Definition at line 1256 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [34/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( left_hand_acc  ,
dynamicgraph::Vector   
)

Definition at line 1317 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [35/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( left_hand_pos  ,
dynamicgraph::Vector   
)

Definition at line 1215 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [36/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( left_hand_vel  ,
dynamicgraph::Vector   
)

Definition at line 1269 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [37/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( lf_xyzquat  ,
dynamicgraph::Vector   
)

Definition at line 663 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [38/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( ,
dynamicgraph::Matrix   
)

Definition at line 898 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [39/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( pwmDes  ,
dynamicgraph::Vector   
)

Definition at line 103 of file position-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [40/84]

DEFINE_SIGNAL_OUT_FUNCTION ( ,
dynamicgraph::Vector   
)

apply feedback correction

convert from xyzquat to se3

find translation to apply to both feet to minimise distances to reference positions

two vectors define by left to right feet translation

angle betwin this two vectors projected in horizontal plane is the yaw drift

apply correction to cancel this drift

Definition at line 492 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [41/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( q_des  ,
dynamicgraph::Vector   
)

Definition at line 568 of file simple-inverse-dyn.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [42/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( q_imu  ,
dynamicgraph::Vector   
)

Definition at line 713 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [43/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( q_lf  ,
dynamicgraph::Vector   
)

Definition at line 683 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [44/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( q_rf  ,
dynamicgraph::Vector   
)

Definition at line 698 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [45/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( qError  ,
dynamicgraph::Vector   
)

Definition at line 141 of file position-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [46/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( rf_xyzquat  ,
dynamicgraph::Vector   
)

Definition at line 673 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [47/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( right_foot_acc  ,
dynamicgraph::Vector   
)

Definition at line 1327 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [48/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( right_foot_acc_des  ,
dynamicgraph::Vector   
)

Definition at line 1363 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [49/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( right_foot_pos  ,
dynamicgraph::Vector   
)

Definition at line 1228 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [50/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( right_foot_vel  ,
dynamicgraph::Vector   
)

Definition at line 1282 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [51/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( right_hand_acc  ,
dynamicgraph::Vector   
)

Definition at line 1340 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [52/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( right_hand_pos  ,
dynamicgraph::Vector   
)

Definition at line 1243 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [53/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( right_hand_vel  ,
dynamicgraph::Vector   
)

Definition at line 1293 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [54/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( smoothSignDq  ,
dynamicgraph::Vector   
)

Definition at line 219 of file joint-torque-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [55/84]

DEFINE_SIGNAL_OUT_FUNCTION ( tau  ,
dynamicgraph::Vector   
)

-— Get the information --— Desired position

Measured position

Measured speed

Measured temperature

Measured torque

Desired torque

— Initialize solver —

— Solve the DDP —

— Get the command —

-— Get the information --— Desired position

Measured joint position

Measured joint speed

Desired torque

— Solve the DDP —

— Get the command —

-— Get the information --— Desired position

Measured joint position

Measured joint speed

Desired torque

— Solve the DDP —

— Get the command —

Definition at line 92 of file ddp-actuator-solver.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [56/84]

DEFINE_SIGNAL_OUT_FUNCTION ( tau_des  ,
dynamicgraph::Vector   
)

Definition at line 644 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [57/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( torque_error_integral  ,
dynamicgraph::Vector   
)

Definition at line 200 of file joint-torque-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [58/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( trigger  ,
int   
)

Definition at line 54 of file trace-player.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [59/84]

DEFINE_SIGNAL_OUT_FUNCTION ( ,
dynamicgraph::Vector   
)

Definition at line 160 of file admittance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [60/84]

DEFINE_SIGNAL_OUT_FUNCTION ( u_safe  ,
dynamicgraph::Vector   
)

Definition at line 243 of file control-manager.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [61/84]

DEFINE_SIGNAL_OUT_FUNCTION ( ,
dynamicgraph::Vector   
)

TODO Read this transform from setable parameter /// TODO chesk the sign of the translation

  • Extract DC component by low pass filter and remove it*‍/

TODO

Definition at line 811 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [62/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( v_ac  ,
dynamicgraph::Vector   
)

Definition at line 1018 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [63/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( v_des  ,
dynamicgraph::Vector   
)

Definition at line 551 of file simple-inverse-dyn.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [64/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( v_flex  ,
dynamicgraph::Vector   
)

Definition at line 988 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [65/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( v_gyr  ,
dynamicgraph::Vector   
)

Definition at line 1008 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [66/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( v_imu  ,
dynamicgraph::Vector   
)

Definition at line 998 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [67/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( v_kin  ,
dynamicgraph::Vector   
)

Definition at line 978 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [68/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( vDesLeftFoot  ,
dynamicgraph::Vector   
)

Definition at line 277 of file admittance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [69/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( vDesRightFoot  ,
dynamicgraph::Vector   
)

Definition at line 237 of file admittance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [70/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( w_lf  ,
double   
)

Definition at line 731 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [71/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( w_lf_filtered  ,
double   
)

Definition at line 800 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [72/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( w_rf  ,
double   
)

Definition at line 760 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [73/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( w_rf_filtered  ,
double   
)

Definition at line 789 of file base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [74/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( ,
dynamicgraph::Vector   
)

Definition at line 136 of file se3-trajectory-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [75/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( x_filtered  ,
dynamicgraph::Vector   
)

************************************************************************* /// The following signals depend only on other inner signals, so they just need to copy the interested part of the inner signal they depend on. ************************************************************************* ///

Definition at line 112 of file numerical-difference.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [76/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp  ,
dynamicgraph::Vector   
)

Definition at line 1143 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [77/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp_des  ,
dynamicgraph::Vector   
)

Definition at line 1051 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [78/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp_des_left_foot  ,
dynamicgraph::Vector   
)

Definition at line 1030 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [79/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp_des_left_foot_local  ,
dynamicgraph::Vector   
)

Definition at line 991 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [80/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp_des_right_foot  ,
dynamicgraph::Vector   
)

Definition at line 1009 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [81/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp_des_right_foot_local  ,
dynamicgraph::Vector   
)

Definition at line 972 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [82/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp_left_foot  ,
dynamicgraph::Vector   
)

Definition at line 1122 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [83/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp_ref  ,
dynamicgraph::Vector   
)

Definition at line 1065 of file inverse-dynamics-balance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [84/84]

dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION ( zmp_right_foot  ,
dynamicgraph::Vector   
)

Definition at line 1100 of file inverse-dynamics-balance-controller.cpp.

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [1/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( AdmittanceController  ,
"AdmittanceController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [2/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( BaseEstimator  ,
"BaseEstimator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [3/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( ControlManager  ,
"ControlManager"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [4/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( CurrentController  ,
"CurrentController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [5/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DdpActuatorSolver  ,
"DdpActuatorSolver"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [6/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DdpPyreneActuatorSolver  ,
"DdpPyreneActuatorSolver"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [7/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( FreeFlyerLocator  ,
"FreeFlyerLocator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [8/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( ImuOffsetCompensation  ,
"ImuOffsetCompensation"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [9/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( InverseDynamicsBalanceController  ,
"InverseDynamicsBalanceController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [10/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( JointTorqueController  ,
"JointTorqueController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [11/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( JointTrajectoryGenerator  ,
"JointTrajectoryGenerator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [12/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( NumericalDifference  ,
"NumericalDifference"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [13/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( PositionController  ,
"PositionController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [14/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SE3TrajectoryGenerator  ,
"SE3TrajectoryGenerator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [15/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimpleInverseDyn  ,
"SimpleInverseDyn"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [16/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( TorqueOffsetEstimator  ,
"TorqueOffsetEstimator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [17/17]

dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( TracePlayer  ,
"TracePlayer"   
)

◆ matrixToRpy()

void matrixToRpy ( const Eigen::Matrix3d &  M,
Eigen::Vector3d &  rpy 
)

Convert from Transformation Matrix to Roll, Pitch, Yaw

Definition at line 41 of file base-estimator.cpp.

◆ operator<<()

std::ostream& dynamicgraph::sot::torque_control::operator<< ( std::ostream &  os,
const CtrlMode s 
)

Definition at line 59 of file control-manager.hh.

◆ pointRotationByQuaternion()

void pointRotationByQuaternion ( const Eigen::Vector3d &  point,
const Eigen::Vector4d &  quat,
Eigen::Vector3d &  rotatedPoint 
)

Rotate a point or a vector by a quaternion stored in (w,x,y,z) format

Definition at line 60 of file base-estimator.cpp.

◆ quanternionMult()

void quanternionMult ( const Eigen::Vector4d &  q1,
const Eigen::Vector4d &  q2,
Eigen::Vector4d &  q12 
)

Multiply to quaternions stored in (w,x,y,z) format

Definition at line 53 of file base-estimator.cpp.

◆ readMatrixFromFile()

Eigen::MatrixXd dynamicgraph::sot::torque_control::readMatrixFromFile ( const char *  filename)

Definition at line 41 of file trajectory-generators.hh.

◆ rpyToMatrix() [1/2]

void rpyToMatrix ( const Eigen::Vector3d &  rpy,
Eigen::Matrix3d &  R 
)

Convert from Roll, Pitch, Yaw to transformation Matrix.

Definition at line 39 of file base-estimator.cpp.

◆ rpyToMatrix() [2/2]

void rpyToMatrix ( double  r,
double  p,
double  y,
Eigen::Matrix3d &  R 
)

Convert from Roll, Pitch, Yaw to transformation Matrix.

Definition at line 31 of file base-estimator.cpp.

◆ se3Interp()

void se3Interp ( const pinocchio::SE3 &  s1,
const pinocchio::SE3 &  s2,
const double  alpha,
pinocchio::SE3 &  s12 
)

Compute s12 as an intermediate transform between s1 and s2 SE3 transforms

Definition at line 24 of file base-estimator.cpp.

◆ svdSolveWithDamping()

VectorXd dynamicgraph::sot::torque_control::svdSolveWithDamping ( const JacobiSVD< MatrixXd > &  A,
const VectorXd &  b,
double  damping 
)

Definition at line 375 of file admittance-controller.cpp.

Variable Documentation

◆ ControlOutput_s

const std::string ControlOutput_s[] = {"velocity", "torque"}

Definition at line 67 of file simple-inverse-dyn.hh.