6 #ifndef __sot_torque_control_current_controller_H__ 7 #define __sot_torque_control_current_controller_H__ 14 #if defined(__sot_torque_control_current_controller_H__) 15 #define SOTCURRENTCONTROLLER_EXPORT __declspec(dllexport) 17 #define SOTCURRENTCONTROLLER_EXPORT __declspec(dllimport) 20 #define SOTCURRENTCONTROLLER_EXPORT 28 #include "boost/assign.hpp" 30 #include <pinocchio/multibody/model.hpp> 31 #include <pinocchio/parsers/urdf.hpp> 33 #include <tsid/robots/robot-wrapper.hpp> 34 #include <dynamic-graph/signal-helper.h> 35 #include <sot/core/matrix-geometry.hh> 36 #include <sot/core/robot-utils.hh> 49 DYNAMIC_GRAPH_ENTITY_DECL();
59 void init(
const double& dt,
const std::string& robotRef,
const unsigned int& currentOffsetIters);
62 DECLARE_SIGNAL_IN(i_des, dynamicgraph::Vector);
63 DECLARE_SIGNAL_IN(i_measured, dynamicgraph::Vector);
64 DECLARE_SIGNAL_IN(i_sens_gains, dynamicgraph::Vector);
65 DECLARE_SIGNAL_IN(kp_current, dynamicgraph::Vector);
66 DECLARE_SIGNAL_IN(ki_current, dynamicgraph::Vector);
68 DECLARE_SIGNAL_IN(i_max, dynamicgraph::Vector);
69 DECLARE_SIGNAL_IN(u_max,
70 dynamicgraph::Vector);
71 DECLARE_SIGNAL_IN(u_saturation, dynamicgraph::Vector);
73 DECLARE_SIGNAL_IN(in_out_gain, dynamicgraph::Vector);
75 dq, dynamicgraph::Vector);
76 DECLARE_SIGNAL_IN(bemf_factor, dynamicgraph::Vector);
77 DECLARE_SIGNAL_IN(percentage_bemf_compensation,
79 dynamicgraph::Vector);
80 DECLARE_SIGNAL_IN(dead_zone_offsets, dynamicgraph::Vector);
82 DECLARE_SIGNAL_IN(percentage_dead_zone_compensation,
83 dynamicgraph::Vector);
86 i_max_dead_zone_compensation,
87 dynamicgraph::Vector);
88 DECLARE_SIGNAL_IN(i_sensor_offsets_low_level,
89 dynamicgraph::Vector);
90 DECLARE_SIGNAL_IN(i_sensor_offsets_real_in, dynamicgraph::Vector);
92 DECLARE_SIGNAL_OUT(u, dynamicgraph::Vector);
93 DECLARE_SIGNAL_OUT(u_safe, dynamicgraph::Vector);
94 DECLARE_SIGNAL_OUT(i_real, dynamicgraph::Vector);
95 DECLARE_SIGNAL_OUT(i_low_level, dynamicgraph::Vector);
96 DECLARE_SIGNAL_OUT(i_sensor_offsets_real_out, dynamicgraph::Vector);
97 DECLARE_SIGNAL_OUT(dead_zone_compensation,
98 dynamicgraph::Vector);
99 DECLARE_SIGNAL_OUT(i_errors, dynamicgraph::Vector);
100 DECLARE_SIGNAL_OUT(i_errors_ll_wo_bemf, dynamicgraph::Vector);
104 void reset_integral();
107 virtual void display(std::ostream& os)
const;
109 void sendMsg(
const std::string& msg, MsgType t = MSG_TYPE_INFO,
const char* =
"",
int = 0) {
110 logger_.stream(t) << (
"[CurrentController-" + name +
"] " + msg) <<
'\n';
137 #endif // #ifndef __sot_torque_control_current_controller_H__
dynamicgraph::Vector m_i_offsets_real
dynamicgraph::Vector m_i_err_integr
#define SOTCURRENTCONTROLLER_EXPORT
bool m_emergency_stop_triggered
true if the entity has been successfully initialized
dynamicgraph::Vector m_avg_i_err_pos
dynamicgraph::Vector m_avg_i_err_neg
bool m_is_first_iter
control loop time period
RobotUtilShrPtr m_robot_util
int m_iter
true at the first iteration, false otherwise
dynamicgraph::Vector m_dz_coeff
AdmittanceController EntityClassName
void sendMsg(const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0)
unsigned int m_currentOffsetIters
time to sleep at every iteration (to slow down simulation)