11 #ifndef _SOT_DDP_PYRENE_ACTUATOR_SOLVER_H 12 #define _SOT_DDP_PYRENE_ACTUATOR_SOLVER_H 18 #if defined(sot_ddp_pyrene_actuator_EXPORTS) 19 #define SOTDDPPYRENEACTUATORSOLVER_EXPORT __declspec(dllexport) 21 #define SOTDDPPYRENEACTUATORSOLVER_EXPORT __declspec(dllimport) 24 #define SOTDDPPYRENEACTUATORSOLVER_EXPORT 32 #include <tsid/utils/stop-watch.hpp> 33 #include <dynamic-graph/signal-helper.h> 34 #include <sot/core/matrix-geometry.hh> 35 #include <sot/core/robot-utils.hh> 36 #include <sot/core/causal-filter.hh> 38 #include <ddp-actuator-solver/ddpsolver.hh> 40 #include <ddp-actuator-solver/pyrene_actuator/pyreneCostFunction.hh> 41 #include <ddp-actuator-solver/pyrene_actuator/pyreneActuator.hh> 48 DYNAMIC_GRAPH_ENTITY_DECL();
51 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
57 DECLARE_SIGNAL_IN(pos_des, dynamicgraph::Vector);
58 DECLARE_SIGNAL_IN(pos_joint_measure, dynamicgraph::Vector);
59 DECLARE_SIGNAL_IN(dx_joint_measure, dynamicgraph::Vector);
60 DECLARE_SIGNAL_IN(tau_des, dynamicgraph::Vector);
61 DECLARE_SIGNAL_OUT(tau, dynamicgraph::Vector);
64 virtual void display(std::ostream& os)
const;
71 DDPSolver<double, 2, 1>::commandVec_t
m_u;
85 void param_init(
const double& timestep,
const int& T,
const int& nbItMax,
const double& stopCriteria);
88 void setTorqueLimit(
const double& tau);
89 void setJointLimit(
const double& upperLim,
const double& lowerLim);
90 void setJointVelLimit(
const double& upperLim,
const double& lowerLim);
93 void setLoadParam(
const double& mass,
const double& coordX,
const double& coordY);
94 void setLoadMass(
const double& mass);
98 void setCostGainState(
const dynamicgraph::Vector& Q);
99 void setCostGainStateConstraint(
const dynamicgraph::Vector& W);
100 void setCostGainCommand(
const dynamicgraph::Vector& R);
101 void setCostGainTorqueConstraint(
const dynamicgraph::Vector& P);
106 #endif // _SOT_SIMPLE_DDP_ACTUATOR_SOLVER_H
DDPSolver< double, 2, 1 >::commandVec_t m_u
#define SOTDDPPYRENEACTUATORSOLVER_EXPORT
CostFunctionPyreneActuator m_cost
DDPSolver< double, 2, 1 >::stateVec_t m_zeroState
dynamicgraph::Vector m_previous_tau
DDPSolver< double, 2, 1 > m_solver