#include <flex-joints/flexi-hips.hpp>
|
| Flex () |
|
| Flex (const FlexSettings &settings) |
|
void | initialize (const FlexSettings &settings) |
|
const eVector2 & | computeDeflection (const eArray2 &torques, const eArray2 &delta0, const eArray2 &stiffness, const eArray2 &damping, const double dt) |
|
const eVector3 & | currentFlexToJoint (const eVector2 &delta) |
|
const eVector2 & | estimateFlexingTorque (const eVector3 &hipPos, const eVector3 &jointTorque) |
|
const eVector2 & | estimateFlexingTorque (const eVector3 &hipPos, const eVector3 &jointTorque, const eVector2 &delta0, const eVector3 &jointForce) |
|
void | correctDeflections (const eVector2 &leftFlexingTorque, const eVector2 &rightFlexingTorque, eVectorX &q, eVectorX &dq) |
|
void | correctEstimatedDeflections (const eVectorX &desiredTorque, eVectorX &q, eVectorX &dq, const eVector3 &leftForce, const eVector3 &rightForce) |
|
void | correctEstimatedDeflections (const eVectorX &desiredTorque, eVectorX &q, eVectorX &dq) |
|
const FlexSettings & | getSettings () |
|
void | reset () |
|
void | setLeftFlex0 (const eVector2 &delta0) |
|
const eVector2 & | getLeftFlex0 (void) |
|
void | setRightFlex0 (const eVector2 &delta0) |
|
const eVector2 & | getRightFlex0 (void) |
|
const eArray2 & | get_summation_LH (void) |
|
const eArray2 & | get_summation_RH (void) |
|
const std::deque< eArray2 > & | get_queue_LH (void) |
|
const std::deque< eArray2 > & | get_queue_RH (void) |
|
◆ Flex() [1/2]
◆ Flex() [2/2]
◆ computeDeflection()
Computes the deflection expected for certain flexing torque according to:
delta = (delta0 * damping - torques * dt) * inverse(stiffness * dt + damping)
◆ correctDeflections()
Arguments:
leftFlexTorque and rightFlexingTorque are composed as {pitch_torque, roll_torque}
q and dq are the robot posture and velocities without the freeFlyer part.
◆ correctEstimatedDeflections() [1/2]
Arguments:
desired torque are the values commanded by the controller.
q and dq are the robot posture and velocities without the freeFlyer part.
Each force (leftForce, rightForce) must be provided in the local hip joint frame.
◆ correctEstimatedDeflections() [2/2]
Arguments:
desired torque are the values commanded by the controller.
q and dq are the robot posture and velocities without the freeFlyer part.
◆ currentFlexToJoint()
◆ estimateFlexingTorque() [1/2]
◆ estimateFlexingTorque() [2/2]
◆ get_queue_LH()
const std::deque<eArray2>& flex::Flex::get_queue_LH |
( |
void |
| ) |
|
|
inline |
◆ get_queue_RH()
const std::deque<eArray2>& flex::Flex::get_queue_RH |
( |
void |
| ) |
|
|
inline |
◆ get_summation_LH()
const eArray2& flex::Flex::get_summation_LH |
( |
void |
| ) |
|
|
inline |
◆ get_summation_RH()
const eArray2& flex::Flex::get_summation_RH |
( |
void |
| ) |
|
|
inline |
◆ getLeftFlex0()
const eVector2& flex::Flex::getLeftFlex0 |
( |
void |
| ) |
|
|
inline |
◆ getRightFlex0()
const eVector2& flex::Flex::getRightFlex0 |
( |
void |
| ) |
|
|
inline |
◆ getSettings()
◆ initialize()
void flex::Flex::initialize |
( |
const FlexSettings & |
settings | ) |
|
◆ reset()
void flex::Flex::reset |
( |
| ) |
|
◆ setLeftFlex0()
void flex::Flex::setLeftFlex0 |
( |
const eVector2 & |
delta0 | ) |
|
|
inline |
◆ setRightFlex0()
void flex::Flex::setRightFlex0 |
( |
const eVector2 & |
delta0 | ) |
|
|
inline |
The documentation for this class was generated from the following files: