sot-torque-control  1.6.2
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
admittance-controller.cpp File Reference
#include <tsid/utils/stop-watch.hpp>
#include <dynamic-graph/factory.h>
#include <sot/core/debug.hh>
#include <sot/torque_control/admittance-controller.hh>
#include <sot/torque_control/commands-helper.hh>
Include dependency graph for admittance-controller.cpp:

Go to the source code of this file.

Namespaces

 dynamicgraph
 to read text file
 
 dynamicgraph::sot
 
 dynamicgraph::sot::torque_control
 

Macros

#define DES_VEL_SIGNALS   m_vDesRightFootSOUT << m_vDesLeftFootSOUT
 
#define FORCE_SIGNALS   m_fRightFootSIN << m_fLeftFootSIN << m_fRightFootFilteredSIN << m_fLeftFootFilteredSIN
 
#define GAIN_SIGNALS
 
#define INPUT_SIGNALS    STATE_SIGNALS << REF_FORCE_SIGNALS << FORCE_SIGNALS << GAIN_SIGNALS << m_controlledJointsSIN << m_dampingSIN
 
#define OUTPUT_SIGNALS   m_uSOUT << m_dqDesSOUT << DES_VEL_SIGNALS
 
#define PROFILE_DQ_DES_COMPUTATION   "Admittance control computation"
 
#define REF_FORCE_SIGNALS   m_fRightFootRefSIN << m_fLeftFootRefSIN
 
#define STATE_SIGNALS   m_encodersSIN << m_jointsVelocitiesSIN
 

Typedefs

typedef AdmittanceController EntityClassName
 
typedef Eigen::Matrix< double, 3, 1 > Vector3
 
typedef Eigen::Matrix< double, 6, 1 > Vector6
 

Functions

 DEFINE_SIGNAL_OUT_FUNCTION (dqDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (u, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vDesLeftFoot, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vDesRightFoot, dynamicgraph::Vector)
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (AdmittanceController, "AdmittanceController")
 
VectorXd svdSolveWithDamping (const JacobiSVD< MatrixXd > &A, const VectorXd &b, double damping)
 

Macro Definition Documentation

◆ DES_VEL_SIGNALS

#define DES_VEL_SIGNALS   m_vDesRightFootSOUT << m_vDesLeftFootSOUT

Definition at line 39 of file admittance-controller.cpp.

◆ FORCE_SIGNALS

#define FORCE_SIGNALS   m_fRightFootSIN << m_fLeftFootSIN << m_fRightFootFilteredSIN << m_fLeftFootFilteredSIN

Definition at line 29 of file admittance-controller.cpp.

◆ GAIN_SIGNALS

#define GAIN_SIGNALS
Value:
m_kp_forceSIN << m_ki_forceSIN << m_kp_velSIN << m_ki_velSIN << m_force_integral_saturationSIN \
<< m_force_integral_deadzoneSIN

Definition at line 31 of file admittance-controller.cpp.

◆ INPUT_SIGNALS

#define INPUT_SIGNALS    STATE_SIGNALS << REF_FORCE_SIGNALS << FORCE_SIGNALS << GAIN_SIGNALS << m_controlledJointsSIN << m_dampingSIN

Definition at line 36 of file admittance-controller.cpp.

◆ OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_uSOUT << m_dqDesSOUT << DES_VEL_SIGNALS

Definition at line 40 of file admittance-controller.cpp.

◆ PROFILE_DQ_DES_COMPUTATION

#define PROFILE_DQ_DES_COMPUTATION   "Admittance control computation"

Definition at line 25 of file admittance-controller.cpp.

◆ REF_FORCE_SIGNALS

#define REF_FORCE_SIGNALS   m_fRightFootRefSIN << m_fLeftFootRefSIN

Definition at line 27 of file admittance-controller.cpp.

◆ STATE_SIGNALS

#define STATE_SIGNALS   m_encodersSIN << m_jointsVelocitiesSIN

Definition at line 34 of file admittance-controller.cpp.