#include <sot/torque_control/simple-inverse-dyn.hh>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | SimpleInverseDyn (const std::string &name) |
DECLARE_SIGNAL_IN (posture_ref_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (posture_ref_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (posture_ref_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kp_posture, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kd_posture, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (w_posture, double) | |
DECLARE_SIGNAL_IN (kp_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kd_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (com_ref_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (com_ref_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (com_ref_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kp_com, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kd_com, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (w_com, double) | |
DECLARE_SIGNAL_IN (kp_contact, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kd_contact, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (w_forces, double) | |
DECLARE_SIGNAL_IN (mu, double) | |
DECLARE_SIGNAL_IN (contact_points, dynamicgraph::Matrix) | |
DECLARE_SIGNAL_IN (contact_normal, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (f_min, double) | |
DECLARE_SIGNAL_IN (f_max, double) | |
DECLARE_SIGNAL_IN (waist_ref_pos, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (waist_ref_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (waist_ref_acc, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kp_waist, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kd_waist, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (w_waist, double) | |
DECLARE_SIGNAL_IN (q, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (v, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (active_joints, dynamicgraph::Vector) | |
DECLARE_SIGNAL_INNER (active_joints_checked, dynamicgraph::Vector) | |
mask with 1 for controlled joints, 0 otherwise More... | |
DECLARE_SIGNAL_OUT (tau_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (dv_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (v_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (q_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (u, dynamicgraph::Vector) | |
virtual void | display (std::ostream &os) const |
void | init (const double &dt, const std::string &robotRef) |
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0) |
virtual void | setControlOutputType (const std::string &type) |
void | updateComOffset () |
Protected Attributes | |
tsid::math::Vector3 | m_com_offset |
desired torques (sot order) More... | |
tsid::contacts::Contact6d * | m_contactLF |
tsid::contacts::Contact6d * | m_contactRF |
TASKS. More... | |
ControlOutput | m_ctrlMode |
Share pointer to the robot utils methods. More... | |
double | m_dt |
tsid::math::Vector | m_dv_sot |
Computed solutions (accelerations and torques) and their derivatives. More... | |
tsid::math::Vector | m_dv_urdf |
desired accelerations (sot order) More... | |
bool | m_enabled |
true if the entity has been successfully initialized More... | |
bool | m_firstTime |
True if controler is enabled. More... | |
tsid::solvers::SolverHQPBase * | m_hqpSolver |
Solver and problem formulation. More... | |
bool | m_initSucceeded |
current time More... | |
tsid::InverseDynamicsFormulationAccForce * | m_invDyn |
tsid::math::Vector | m_q_sot |
desired and current velocities (urdf order) (close the TSID loop on it) More... | |
tsid::math::Vector | m_q_urdf |
desired positions (sot order) More... | |
tsid::robots::RobotWrapper * | m_robot |
True at the first iteration of the controller. More... | |
RobotUtilShrPtr | m_robot_util |
Final time of the control loop. More... | |
tsid::trajectories::TrajectorySample | m_sampleCom |
Trajectories of the tasks. More... | |
tsid::trajectories::TrajectorySample | m_samplePosture |
tsid::trajectories::TrajectorySample | m_sampleWaist |
double | m_t |
control loop time period More... | |
tsid::tasks::TaskJointPosture * | m_taskBlockedJoints |
tsid::tasks::TaskComEquality * | m_taskCom |
tsid::tasks::TaskJointPosture * | m_taskPosture |
tsid::tasks::TaskSE3Equality * | m_taskWaist |
tsid::math::Vector | m_tau_sot |
desired and current positions (urdf order) (close the TSID loop on it) More... | |
unsigned int | m_timeLast |
3d CoM offset More... | |
tsid::math::Vector | m_v_sot |
desired accelerations (urdf order) More... | |
tsid::math::Vector | m_v_urdf |
desired velocities (sot order) More... | |
double | m_w_com |
Weights of the Tasks (which can be changed) More... | |
double | m_w_posture |
double | m_w_waist |
Definition at line 73 of file simple-inverse-dyn.hh.
SimpleInverseDyn | ( | const std::string & | name | ) |
Definition at line 134 of file simple-inverse-dyn.cpp.
DECLARE_SIGNAL_IN | ( | posture_ref_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | posture_ref_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | posture_ref_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kp_posture | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kd_posture | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | w_posture | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | kp_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kd_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | com_ref_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | com_ref_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | com_ref_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kp_com | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kd_com | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | w_com | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | kp_contact | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kd_contact | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | w_forces | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | mu | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | contact_points | , |
dynamicgraph::Matrix | |||
) |
DECLARE_SIGNAL_IN | ( | contact_normal | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | f_min | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | f_max | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | waist_ref_pos | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | waist_ref_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | waist_ref_acc | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kp_waist | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kd_waist | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | w_waist | , |
double | |||
) |
DECLARE_SIGNAL_IN | ( | q | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | v | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | active_joints | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_INNER | ( | active_joints_checked | , |
dynamicgraph::Vector | |||
) |
mask with 1 for controlled joints, 0 otherwise
DECLARE_SIGNAL_OUT | ( | tau_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | dv_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | v_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | q_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | u | , |
dynamicgraph::Vector | |||
) |
|
virtual |
Definition at line 613 of file simple-inverse-dyn.cpp.
void init | ( | const double & | dt, |
const std::string & | robotRef | ||
) |
Definition at line 220 of file simple-inverse-dyn.cpp.
|
inline |
Definition at line 138 of file simple-inverse-dyn.hh.
|
virtual |
Definition at line 210 of file simple-inverse-dyn.cpp.
void updateComOffset | ( | ) |
Definition at line 204 of file simple-inverse-dyn.cpp.
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protected |
desired torques (sot order)
Definition at line 184 of file simple-inverse-dyn.hh.
|
protected |
Definition at line 159 of file simple-inverse-dyn.hh.
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protected |
TASKS.
Definition at line 158 of file simple-inverse-dyn.hh.
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protected |
Share pointer to the robot utils methods.
Definition at line 188 of file simple-inverse-dyn.hh.
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protected |
Definition at line 143 of file simple-inverse-dyn.hh.
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protected |
Computed solutions (accelerations and torques) and their derivatives.
Definition at line 176 of file simple-inverse-dyn.hh.
|
protected |
desired accelerations (sot order)
Definition at line 177 of file simple-inverse-dyn.hh.
|
protected |
true if the entity has been successfully initialized
Definition at line 146 of file simple-inverse-dyn.hh.
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protected |
True if controler is enabled.
Definition at line 147 of file simple-inverse-dyn.hh.
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protected |
Solver and problem formulation.
Definition at line 154 of file simple-inverse-dyn.hh.
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protected |
current time
Definition at line 145 of file simple-inverse-dyn.hh.
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protected |
Definition at line 155 of file simple-inverse-dyn.hh.
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protected |
desired and current velocities (urdf order) (close the TSID loop on it)
Definition at line 180 of file simple-inverse-dyn.hh.
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protected |
desired positions (sot order)
Definition at line 181 of file simple-inverse-dyn.hh.
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protected |
True at the first iteration of the controller.
TSID Robot
Definition at line 151 of file simple-inverse-dyn.hh.
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protected |
Final time of the control loop.
Definition at line 187 of file simple-inverse-dyn.hh.
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protected |
Trajectories of the tasks.
Definition at line 166 of file simple-inverse-dyn.hh.
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protected |
Definition at line 168 of file simple-inverse-dyn.hh.
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protected |
Definition at line 167 of file simple-inverse-dyn.hh.
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protected |
control loop time period
Definition at line 144 of file simple-inverse-dyn.hh.
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protected |
Definition at line 163 of file simple-inverse-dyn.hh.
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protected |
Definition at line 160 of file simple-inverse-dyn.hh.
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protected |
Definition at line 162 of file simple-inverse-dyn.hh.
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protected |
Definition at line 161 of file simple-inverse-dyn.hh.
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protected |
desired and current positions (urdf order) (close the TSID loop on it)
Definition at line 182 of file simple-inverse-dyn.hh.
|
protected |
3d CoM offset
Definition at line 186 of file simple-inverse-dyn.hh.
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protected |
desired accelerations (urdf order)
Definition at line 178 of file simple-inverse-dyn.hh.
|
protected |
desired velocities (sot order)
Definition at line 179 of file simple-inverse-dyn.hh.
|
protected |
Weights of the Tasks (which can be changed)
Definition at line 171 of file simple-inverse-dyn.hh.
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protected |
Definition at line 172 of file simple-inverse-dyn.hh.
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protected |
Definition at line 173 of file simple-inverse-dyn.hh.