6 #ifndef __sot_torque_control_free_flyer_locator_H__ 7 #define __sot_torque_control_free_flyer_locator_H__ 14 #if defined(free_flyer_locator_EXPORTS) 15 #define SOTFREEFLYERLOCATOR_EXPORT __declspec(dllexport) 17 #define SOTFREEFLYERLOCATOR_EXPORT __declspec(dllimport) 20 #define SOTFREEFLYERLOCATOR_EXPORT 27 #include "boost/assign.hpp" 30 #include <pinocchio/multibody/model.hpp> 31 #include <pinocchio/parsers/urdf.hpp> 32 #include <pinocchio/algorithm/kinematics.hpp> 36 #include <dynamic-graph/linear-algebra.h> 38 #include <dynamic-graph/signal-helper.h> 39 #include <sot/core/matrix-geometry.hh> 40 #include <sot/core/robot-utils.hh> 53 DYNAMIC_GRAPH_ENTITY_DECL();
56 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
62 void init(
const std::string& robotRef);
65 DECLARE_SIGNAL_IN(base6d_encoders, dynamicgraph::Vector);
66 DECLARE_SIGNAL_IN(joint_velocities, dynamicgraph::Vector);
67 DECLARE_SIGNAL_INNER(kinematics_computations, dynamicgraph::Vector);
69 DECLARE_SIGNAL_OUT(freeflyer_aa, dynamicgraph::Vector);
71 DECLARE_SIGNAL_OUT(base6dFromFoot_encoders, dynamicgraph::Vector);
73 DECLARE_SIGNAL_OUT(v, dynamicgraph::Vector);
76 void displayRobotUtil();
79 virtual void display(std::ostream& os)
const;
81 void sendMsg(
const std::string& msg, MsgType t = MSG_TYPE_INFO,
const char* =
"",
int = 0) {
82 logger_.stream(t) << (
"[FreeFlyerLocator-" + name +
"] " + msg) <<
'\n';
107 #endif // #ifndef __sot_torque_control_free_flyer_locator_H__ Eigen::VectorXd m_v_sot
robot velocities according to pinocchio convention
pinocchio::SE3 m_w_M_lf
SE3 Transform from center of feet to base.
Eigen::VectorXd m_q_sot
robot configuration according to pinocchio convention
Eigen::VectorXd m_v_pin
robot configuration according to SoT convention
long unsigned int m_left_foot_id
pinocchio::Data * m_data
Pinocchio robot model.
long unsigned int m_right_foot_id
AdmittanceController EntityClassName
RobotUtilShrPtr m_robot_util
robot velocities according to SoT convention
void sendMsg(const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0)
pinocchio::Model * m_model
true if the entity has been successfully initialized
#define SOTFREEFLYERLOCATOR_EXPORT
pinocchio::SE3 m_Mff
Pinocchio robot data.