sot-torque-control
1.6.5
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
DeviceTorqueCtrl Member List
This is the complete list of members for
DeviceTorqueCtrl
, including all inherited members.
accelerometer_
DeviceTorqueCtrl
protected
accelerometerSOUT_
DeviceTorqueCtrl
protected
base6d_encoders_
DeviceTorqueCtrl
protected
Cholesky
typedef
DeviceTorqueCtrl
protected
CLASS_NAME
DeviceTorqueCtrl
static
computeForwardDynamics
()
DeviceTorqueCtrl
protected
currentSOUT_
DeviceTorqueCtrl
protected
d_gainsSOUT_
DeviceTorqueCtrl
protected
DECLARE_SIGNAL_IN
(kp_constraints, dynamicgraph::Vector)
DeviceTorqueCtrl
protected
DECLARE_SIGNAL_IN
(kd_constraints, dynamicgraph::Vector)
DeviceTorqueCtrl
protected
DECLARE_SIGNAL_IN
(rotor_inertias, dynamicgraph::Vector)
DeviceTorqueCtrl
protected
DECLARE_SIGNAL_IN
(gear_ratios, dynamicgraph::Vector)
DeviceTorqueCtrl
protected
DeviceTorqueCtrl
(std::string RobotName)
DeviceTorqueCtrl
DIST
typedef
DeviceTorqueCtrl
protected
ENG
typedef
DeviceTorqueCtrl
protected
FORCE_SENSOR_NOISE_STD_DEV
DeviceTorqueCtrl
static
forcesSIN_
DeviceTorqueCtrl
protected
GEN
typedef
DeviceTorqueCtrl
protected
getClassName
() const
DeviceTorqueCtrl
inline
virtual
gyrometer_
DeviceTorqueCtrl
protected
gyrometerSOUT_
DeviceTorqueCtrl
protected
init
(const double &dt, const std::string &urdfFile)
DeviceTorqueCtrl
virtual
integrate
(const double &dt)
DeviceTorqueCtrl
protected
virtual
jointsAccelerations_
DeviceTorqueCtrl
protected
jointsAccelerationsSOUT_
DeviceTorqueCtrl
protected
jointsVelocities_
DeviceTorqueCtrl
protected
jointsVelocitiesSOUT_
DeviceTorqueCtrl
protected
m_contactLF
DeviceTorqueCtrl
protected
m_contactRF
DeviceTorqueCtrl
protected
m_data
DeviceTorqueCtrl
protected
m_dJcv
DeviceTorqueCtrl
protected
m_dv
DeviceTorqueCtrl
protected
m_dv_c
DeviceTorqueCtrl
protected
m_dv_sot
DeviceTorqueCtrl
protected
m_dvBar
DeviceTorqueCtrl
protected
m_f
DeviceTorqueCtrl
protected
m_initSucceeded
DeviceTorqueCtrl
protected
m_isTorqueControlled
DeviceTorqueCtrl
protected
m_Jc
DeviceTorqueCtrl
protected
m_Jc_svd
DeviceTorqueCtrl
protected
m_K
DeviceTorqueCtrl
protected
m_k
DeviceTorqueCtrl
protected
m_K_chol
DeviceTorqueCtrl
protected
m_nj
DeviceTorqueCtrl
protected
m_nk
DeviceTorqueCtrl
protected
m_numericalDamping
DeviceTorqueCtrl
protected
m_q
DeviceTorqueCtrl
protected
m_q_sot
DeviceTorqueCtrl
protected
m_robot
DeviceTorqueCtrl
protected
m_robot_util
DeviceTorqueCtrl
protected
m_tau_np6
DeviceTorqueCtrl
protected
m_v
DeviceTorqueCtrl
protected
m_v_sot
DeviceTorqueCtrl
protected
m_Z
DeviceTorqueCtrl
protected
m_ZMZ
DeviceTorqueCtrl
protected
m_ZMZ_chol
DeviceTorqueCtrl
protected
normalDistribution_
DeviceTorqueCtrl
protected
normalRandomNumberGenerator_
DeviceTorqueCtrl
protected
p_gainsSOUT_
DeviceTorqueCtrl
protected
randomNumberGenerator_
DeviceTorqueCtrl
protected
robotStateSOUT_
DeviceTorqueCtrl
protected
sendMsg
(const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0)
DeviceTorqueCtrl
inline
protected
setControlInputType
(const std::string &cit)
DeviceTorqueCtrl
virtual
setState
(const dynamicgraph::Vector &st)
DeviceTorqueCtrl
virtual
setStateSize
(const unsigned int &size)
DeviceTorqueCtrl
virtual
setVelocity
(const dynamicgraph::Vector &vel)
DeviceTorqueCtrl
virtual
temp6_
DeviceTorqueCtrl
protected
timestep_
DeviceTorqueCtrl
protected
TIMESTEP_DEFAULT
DeviceTorqueCtrl
static
wrenches_
DeviceTorqueCtrl
protected
~DeviceTorqueCtrl
()
DeviceTorqueCtrl
virtual
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