dynamicgraph::sot::ForceCompensationPlugin Class Reference

#include <sot-dynamic-pinocchio/force-compensation.h>

Inheritance diagram for dynamicgraph::sot::ForceCompensationPlugin:
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Collaboration diagram for dynamicgraph::sot::ForceCompensationPlugin:
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List of all members.

Public Types

typedef int sotDummyType

Public Member Functions

virtual const std::string & getClassName (void) const
 ForceCompensationPlugin (const std::string &name)
virtual ~ForceCompensationPlugin (void)
sotDummyTypecalibrationTriger (sotDummyType &dummy, int time)
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)

Public Attributes

bool calibrationStarted
dg::SignalPtr
< dynamicgraph::Vector, int > 
torsorSIN
dg::SignalPtr< MatrixRotation,
int > 
worldRhandSIN
dg::SignalPtr< MatrixRotation,
int > 
handRsensorSIN
dg::SignalPtr
< dynamicgraph::Vector, int > 
translationSensorComSIN
dg::SignalPtr
< dynamicgraph::Vector, int > 
gravitySIN
dg::SignalPtr
< dynamicgraph::Vector, int > 
precompensationSIN
dg::SignalPtr
< dynamicgraph::Matrix, int > 
gainSensorSIN
dg::SignalPtr
< dynamicgraph::Vector, int > 
deadZoneLimitSIN
dg::SignalPtr
< dynamicgraph::Vector, int > 
transSensorJointSIN
dg::SignalPtr
< dynamicgraph::Matrix, int > 
inertiaJointSIN
dg::SignalPtr
< dynamicgraph::Vector, int > 
velocitySIN
dg::SignalPtr
< dynamicgraph::Vector, int > 
accelerationSIN
dg::SignalTimeDependent
< MatrixForce, int > 
handXworldSOUT
dg::SignalTimeDependent
< MatrixForce, int > 
handVsensorSOUT
dg::SignalPtr
< dynamicgraph::Vector, int > 
torsorDeadZoneSIN
dg::SignalTimeDependent
< MatrixForce, int > 
sensorXhandSOUT
dg::SignalTimeDependent
< dynamicgraph::Vector, int > 
momentumSOUT
dg::SignalPtr
< dynamicgraph::Vector, int > 
momentumSIN
dg::SignalTimeDependent
< dynamicgraph::Vector, int > 
torsorCompensatedSOUT
dg::SignalTimeDependent
< dynamicgraph::Vector, int > 
torsorDeadZoneSOUT
dg::SignalTimeDependent
< sotDummyType, int > 
calibrationTrigerSOUT

Static Public Attributes

static const std::string CLASS_NAME

Member Typedef Documentation


Constructor & Destructor Documentation

dynamicgraph::sot::ForceCompensationPlugin::ForceCompensationPlugin ( const std::string &  name)
virtual dynamicgraph::sot::ForceCompensationPlugin::~ForceCompensationPlugin ( void  ) [virtual]

Member Function Documentation

sotDummyType& dynamicgraph::sot::ForceCompensationPlugin::calibrationTriger ( sotDummyType dummy,
int  time 
)
virtual void dynamicgraph::sot::ForceCompensationPlugin::commandLine ( const std::string &  cmdLine,
std::istringstream &  cmdArgs,
std::ostream &  os 
) [virtual]

Reimplemented from dynamicgraph::Entity.

virtual const std::string& dynamicgraph::sot::ForceCompensationPlugin::getClassName ( void  ) const [inline, virtual]

Implements dynamicgraph::Entity.


Member Data Documentation