sot-torque-control  1.6.4
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
DdpPyreneActuatorSolver Class Reference

#include <sot/torque_control/ddp_pyrene_actuator_solver.hh>

Inheritance diagram for DdpPyreneActuatorSolver:
Collaboration diagram for DdpPyreneActuatorSolver:

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW DdpPyreneActuatorSolver (const std::string &name)
 
 DECLARE_SIGNAL_IN (pos_des, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (pos_joint_measure, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (dx_joint_measure, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (tau_des, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (tau, dynamicgraph::Vector)
 
virtual void display (std::ostream &os) const
 

Protected Member Functions

void param_init (const double &timestep, const int &T, const int &nbItMax, const double &stopCriteria)
 
void removeLoad ()
 
void setCostGainCommand (const dynamicgraph::Vector &R)
 
void setCostGainState (const dynamicgraph::Vector &Q)
 
void setCostGainStateConstraint (const dynamicgraph::Vector &W)
 
void setCostGainTorqueConstraint (const dynamicgraph::Vector &P)
 
void setJointLimit (const double &upperLim, const double &lowerLim)
 
void setJointVelLimit (const double &upperLim, const double &lowerLim)
 
void setLoadMass (const double &mass)
 
void setLoadParam (const double &mass, const double &coordX, const double &coordY)
 
void setTorqueLimit (const double &tau)
 

Protected Attributes

CostFunctionPyreneActuator m_cost
 
double m_dt
 
bool m_initSucceeded
 
unsigned int m_iterMax
 
pyreneActuator m_model
 
dynamicgraph::Vector m_previous_tau
 
DDPSolver< double, 2, 1 > m_solver
 
double m_stopCrit
 
unsigned int m_T
 
DDPSolver< double, 2, 1 >::commandVec_t m_u
 
DDPSolver< double, 2, 1 >::stateVec_t m_zeroState
 

Detailed Description

Definition at line 46 of file ddp_pyrene_actuator_solver.hh.

Constructor & Destructor Documentation

◆ DdpPyreneActuatorSolver()

DdpPyreneActuatorSolver ( const std::string &  name)

Constructor

Definition at line 84 of file ddp_pyrene_actuator_solver.cpp.

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/4]

DECLARE_SIGNAL_IN ( pos_des  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/4]

DECLARE_SIGNAL_IN ( pos_joint_measure  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [3/4]

DECLARE_SIGNAL_IN ( dx_joint_measure  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [4/4]

DECLARE_SIGNAL_IN ( tau_des  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT()

DECLARE_SIGNAL_OUT ( tau  ,
dynamicgraph::Vector   
)

◆ display()

void display ( std::ostream &  os) const
virtual

Definition at line 297 of file ddp_pyrene_actuator_solver.cpp.

◆ param_init()

void param_init ( const double &  timestep,
const int &  T,
const int &  nbItMax,
const double &  stopCriteria 
)
protected

Initialize the DDP.

Parameters
timestepControl period (in seconds).
TSize of the preview window (in nb of timestep).
nbItMaxMaximum number of iterations.
stopCriteriaThe value of the stopping criteria.

Definition at line 214 of file ddp_pyrene_actuator_solver.cpp.

◆ removeLoad()

void removeLoad ( )
protected

Definition at line 264 of file ddp_pyrene_actuator_solver.cpp.

◆ setCostGainCommand()

void setCostGainCommand ( const dynamicgraph::Vector &  R)
protected

Definition at line 281 of file ddp_pyrene_actuator_solver.cpp.

◆ setCostGainState()

void setCostGainState ( const dynamicgraph::Vector &  Q)
protected

Definition at line 266 of file ddp_pyrene_actuator_solver.cpp.

◆ setCostGainStateConstraint()

void setCostGainStateConstraint ( const dynamicgraph::Vector &  W)
protected

Definition at line 273 of file ddp_pyrene_actuator_solver.cpp.

◆ setCostGainTorqueConstraint()

void setCostGainTorqueConstraint ( const dynamicgraph::Vector &  P)
protected

Definition at line 289 of file ddp_pyrene_actuator_solver.cpp.

◆ setJointLimit()

void setJointLimit ( const double &  upperLim,
const double &  lowerLim 
)
protected

Definition at line 244 of file ddp_pyrene_actuator_solver.cpp.

◆ setJointVelLimit()

void setJointVelLimit ( const double &  upperLim,
const double &  lowerLim 
)
protected

Definition at line 249 of file ddp_pyrene_actuator_solver.cpp.

◆ setLoadMass()

void setLoadMass ( const double &  mass)
protected

Definition at line 260 of file ddp_pyrene_actuator_solver.cpp.

◆ setLoadParam()

void setLoadParam ( const double &  mass,
const double &  coordX,
const double &  coordY 
)
protected

Definition at line 254 of file ddp_pyrene_actuator_solver.cpp.

◆ setTorqueLimit()

void setTorqueLimit ( const double &  tau)
protected

Definition at line 240 of file ddp_pyrene_actuator_solver.cpp.

Member Data Documentation

◆ m_cost

CostFunctionPyreneActuator m_cost
protected

Definition at line 76 of file ddp_pyrene_actuator_solver.hh.

◆ m_dt

double m_dt
protected

Definition at line 68 of file ddp_pyrene_actuator_solver.hh.

◆ m_initSucceeded

bool m_initSucceeded
protected

Definition at line 69 of file ddp_pyrene_actuator_solver.hh.

◆ m_iterMax

unsigned int m_iterMax
protected

Definition at line 74 of file ddp_pyrene_actuator_solver.hh.

◆ m_model

pyreneActuator m_model
protected

Definition at line 75 of file ddp_pyrene_actuator_solver.hh.

◆ m_previous_tau

dynamicgraph::Vector m_previous_tau
protected

Definition at line 67 of file ddp_pyrene_actuator_solver.hh.

◆ m_solver

DDPSolver<double, 2, 1> m_solver
protected

Definition at line 77 of file ddp_pyrene_actuator_solver.hh.

◆ m_stopCrit

double m_stopCrit
protected

Definition at line 73 of file ddp_pyrene_actuator_solver.hh.

◆ m_T

unsigned int m_T
protected

Definition at line 72 of file ddp_pyrene_actuator_solver.hh.

◆ m_u

DDPSolver<double, 2, 1>::commandVec_t m_u
protected

Definition at line 71 of file ddp_pyrene_actuator_solver.hh.

◆ m_zeroState

DDPSolver<double, 2, 1>::stateVec_t m_zeroState
protected

Definition at line 70 of file ddp_pyrene_actuator_solver.hh.


The documentation for this class was generated from the following files: