#include <Eigen/Dense>
#include <dynamic-graph/factory.h>
#include <sot/core/debug.hh>
#include <sot/torque_control/joint-torque-controller.hh>
#include <sot/torque_control/commands-helper.hh>
Go to the source code of this file.
◆ ALL_INPUT_SIGNALS
#define ALL_INPUT_SIGNALS |
Value:#define TORQUE_CONTROL_INPUT_SIGNALS
#define TORQUE_INTEGRAL_INPUT_SIGNALS
#define MODEL_INPUT_SIGNALS
#define ESTIMATOR_INPUT_SIGNALS
#define VEL_CONTROL_INPUT_SIGNALS
Definition at line 31 of file joint-torque-controller.cpp.
◆ ALL_OUTPUT_SIGNALS
#define ALL_OUTPUT_SIGNALS m_uSOUT << m_torque_error_integralSOUT << m_smoothSignDqSOUT |
◆ ESTIMATOR_INPUT_SIGNALS
#define ESTIMATOR_INPUT_SIGNALS |
Value:m_jointsPositionsSIN << m_jointsVelocitiesSIN << m_jointsAccelerationsSIN << m_jointsTorquesSIN \
<< m_jointsTorquesDerivativeSIN
Definition at line 22 of file joint-torque-controller.cpp.
◆ MODEL_INPUT_SIGNALS
#define MODEL_INPUT_SIGNALS |
Value:m_motorParameterKt_pSIN << m_motorParameterKt_nSIN << m_motorParameterKf_pSIN << m_motorParameterKf_nSIN \
<< m_motorParameterKv_pSIN << m_motorParameterKv_nSIN << m_motorParameterKa_pSIN \
<< m_motorParameterKa_nSIN << m_polySignDqSIN
Definition at line 17 of file joint-torque-controller.cpp.
◆ TORQUE_CONTROL_INPUT_SIGNALS
#define TORQUE_CONTROL_INPUT_SIGNALS m_jointsTorquesDesiredSIN << m_KpTorqueSIN << m_KdTorqueSIN << m_coulomb_friction_compensation_percentageSIN |
◆ TORQUE_INTEGRAL_INPUT_SIGNALS
#define TORQUE_INTEGRAL_INPUT_SIGNALS m_KiTorqueSIN << m_torque_integral_saturationSIN |
◆ VEL_CONTROL_INPUT_SIGNALS
#define VEL_CONTROL_INPUT_SIGNALS m_dq_desSIN << m_KdVelSIN << m_KiVelSIN |