sot-torque-control  1.6.2
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
simple-inverse-dyn.cpp File Reference
#include <boost/test/unit_test.hpp>
#include <tsid/utils/stop-watch.hpp>
#include <tsid/utils/statistics.hpp>
#include <tsid/solvers/solver-HQP-factory.hxx>
#include <tsid/solvers/utils.hpp>
#include <tsid/math/utils.hpp>
#include <dynamic-graph/factory.h>
#include <sot/core/debug.hh>
#include <sot/torque_control/commands-helper.hh>
#include <sot/torque_control/simple-inverse-dyn.hh>
Include dependency graph for simple-inverse-dyn.cpp:

Go to the source code of this file.

Namespaces

 dynamicgraph
 to read text file
 
 dynamicgraph::sot
 
 dynamicgraph::sot::torque_control
 

Macros

#define DBGFILE   "/tmp/debug-sot-torque-control.dat"
 
#define INPUT_SIGNALS
 
#define ODEBUG(x)
 
#define ODEBUG3(x)   std::cout << x << std::endl
 
#define ODEBUG4(x)
 
#define ODEBUG4FULL(x)
 
#define ODEBUG5(x)
 
#define ODEBUG5FULL(x)
 
#define OUTPUT_SIGNALS   m_tau_desSOUT << m_dv_desSOUT << m_v_desSOUT << m_q_desSOUT << m_uSOUT
 
#define PROFILE_HQP_SOLUTION   "SimpleInverseDyn: HQP"
 
#define PROFILE_PREPARE_INV_DYN   "SimpleInverseDyn: prepare inv-dyn"
 
#define PROFILE_READ_INPUT_SIGNALS   "SimpleInverseDyn: read input signals"
 
#define PROFILE_TAU_DES_COMPUTATION   "SimpleInverseDyn: desired tau"
 
#define REQUIRE_FINITE(A)   assert(is_finite(A))
 
#define RESETDEBUG4()
 
#define RESETDEBUG5()
 
#define ZERO_FORCE_THRESHOLD   1e-3
 

Functions

 DEFINE_SIGNAL_INNER_FUNCTION (active_joints_checked, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (u, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (tau_des, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dv_des, dynamicgraph::Vector)
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleInverseDyn, "SimpleInverseDyn")
 

Macro Definition Documentation

◆ DBGFILE

#define DBGFILE   "/tmp/debug-sot-torque-control.dat"

Definition at line 39 of file simple-inverse-dyn.cpp.

◆ INPUT_SIGNALS

#define INPUT_SIGNALS

Definition at line 84 of file simple-inverse-dyn.cpp.

◆ ODEBUG

#define ODEBUG (   x)

Definition at line 35 of file simple-inverse-dyn.cpp.

◆ ODEBUG3

#define ODEBUG3 (   x)    std::cout << x << std::endl

Definition at line 37 of file simple-inverse-dyn.cpp.

◆ ODEBUG4

#define ODEBUG4 (   x)

Definition at line 57 of file simple-inverse-dyn.cpp.

◆ ODEBUG4FULL

#define ODEBUG4FULL (   x)

Definition at line 56 of file simple-inverse-dyn.cpp.

◆ ODEBUG5

#define ODEBUG5 (   x)
Value:
{ std::ofstream DebugFile; \
DebugFile.open(DBGFILE,std::ofstream::app); \
DebugFile << x << std::endl; \
DebugFile.close();}
#define DBGFILE

Definition at line 50 of file simple-inverse-dyn.cpp.

◆ ODEBUG5FULL

#define ODEBUG5FULL (   x)
Value:
{ std::ofstream DebugFile; \
DebugFile.open(DBGFILE,std::ofstream::app); \
DebugFile << __FILE__ << ":" \
<< __FUNCTION__ << "(#" \
<< __LINE__ << "):" << x << std::endl; \
DebugFile.close();}
#define DBGFILE

Definition at line 44 of file simple-inverse-dyn.cpp.

◆ OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_tau_desSOUT << m_dv_desSOUT << m_v_desSOUT << m_q_desSOUT << m_uSOUT

Definition at line 116 of file simple-inverse-dyn.cpp.

◆ PROFILE_HQP_SOLUTION

#define PROFILE_HQP_SOLUTION   "SimpleInverseDyn: HQP"

Definition at line 78 of file simple-inverse-dyn.cpp.

◆ PROFILE_PREPARE_INV_DYN

#define PROFILE_PREPARE_INV_DYN   "SimpleInverseDyn: prepare inv-dyn"

Definition at line 79 of file simple-inverse-dyn.cpp.

◆ PROFILE_READ_INPUT_SIGNALS

#define PROFILE_READ_INPUT_SIGNALS   "SimpleInverseDyn: read input signals"

Definition at line 80 of file simple-inverse-dyn.cpp.

◆ PROFILE_TAU_DES_COMPUTATION

#define PROFILE_TAU_DES_COMPUTATION   "SimpleInverseDyn: desired tau"

Definition at line 77 of file simple-inverse-dyn.cpp.

◆ REQUIRE_FINITE

#define REQUIRE_FINITE (   A)    assert(is_finite(A))

Definition at line 74 of file simple-inverse-dyn.cpp.

◆ RESETDEBUG4

#define RESETDEBUG4 ( )

Definition at line 55 of file simple-inverse-dyn.cpp.

◆ RESETDEBUG5

#define RESETDEBUG5 ( )
Value:
{ std::ofstream DebugFile; \
DebugFile.open(DBGFILE,std::ofstream::out); \
DebugFile.close();}
#define DBGFILE

Definition at line 41 of file simple-inverse-dyn.cpp.

◆ ZERO_FORCE_THRESHOLD

#define ZERO_FORCE_THRESHOLD   1e-3

Definition at line 82 of file simple-inverse-dyn.cpp.