16 #include <pinocchio/fwd.hpp> 19 #include <dynamic-graph/linear-algebra.h> 24 #include <dynamic-graph/all-signals.h> 25 #include <dynamic-graph/entity.h> 48 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
63 bool withForceSignals[4];
79 Device(
const std::string &name);
83 virtual void setStateSize(
const unsigned int &size);
84 virtual void setState(
const dg::Vector &st);
85 void setVelocitySize(
const unsigned int &size);
86 virtual void setVelocity(
const dg::Vector &vel);
87 virtual void setSecondOrderIntegration();
88 virtual void setNoIntegration();
89 virtual void setControlInputType(
const std::string &cit);
90 virtual void increment(
const double &dt = 5e-2);
94 void setSanityCheck(
const bool &enableCheck);
95 void setPositionBounds(
const Vector &lower,
const Vector &upper);
96 void setVelocityBounds(
const Vector &lower,
const Vector &upper);
97 void setTorqueBounds(
const Vector &lower,
const Vector &upper);
101 virtual void display(std::ostream &os)
const;
102 virtual void cmdDisplay();
112 dynamicgraph::SignalPtr<dg::Vector, int>
zmpSIN;
136 dynamicgraph::Signal<dg::Vector, int> *forcesSOUT[4];
144 void integrateRollPitchYaw(dg::Vector &state,
const dg::Vector &control,
160 virtual void integrate(
const double &dt);
167 virtual void setRoot(
const dg::Matrix &root);
173 dg::Vector forceZero6;
dynamicgraph::Signal< dg::Vector, int > pseudoTorqueSOUT
Definition: device.hh:139
virtual const std::string & getClassName(void) const
Definition: device.hh:48
SOT_CORE_EXPORT friend std::ostream & operator<<(std::ostream &os, const Device &r)
Definition: device.hh:103
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:74
dynamicgraph::Signal< dg::Vector, int > velocitySOUT
Definition: device.hh:117
ControlInput
Define the type of input expected by the robot.
Definition: device.hh:32
dg::Vector state_
Definition: device.hh:58
dg::Vector velocity_
Definition: device.hh:59
PeriodicCall periodicCallAfter_
Definition: device.hh:65
dynamicgraph::Signal< dg::Vector, int > ZMPPreviousControllerSOUT
The ZMP reference send by the previous controller.
Definition: device.hh:123
dynamicgraph::SignalPtr< dg::Vector, int > attitudeSIN
Definition: device.hh:111
#define SOT_CORE_EXPORT
Definition: api.hh:20
const std::string ControlInput_s[]
Definition: device.hh:39
Vector upperTorque_
Definition: device.hh:72
dynamicgraph::Signal< dg::Vector, int > robotVelocity_
Motor velocities.
Definition: device.hh:134
Vector upperVelocity_
Definition: device.hh:71
Vector lowerPosition_
Definition: device.hh:73
dynamicgraph::SignalPtr< dg::Vector, int > controlSIN
Definition: device.hh:110
dynamicgraph::Signal< dg::Vector, int > previousControlSOUT
Definition: device.hh:121
dynamicgraph::SignalPtr< dg::Vector, int > zmpSIN
Definition: device.hh:112
dynamicgraph::Signal< dg::Vector, int > robotState_
Definition: device.hh:132
PeriodicCall periodicCallBefore_
Definition: device.hh:64
Definition: periodic-call.hh:36
Vector lowerTorque_
Definition: device.hh:75
double timestep_
Definition: device.hh:66
ForceSignalSource
Definition: device.hh:50
bool sanityCheck_
Definition: device.hh:60
Vector upperPosition_
Definition: device.hh:70
ControlInput controlInputType_
Definition: device.hh:62
dynamicgraph::Signal< dg::Vector, int > stateSOUT
Definition: device.hh:116
virtual void display(std::ostream &os) const
Vector lowerVelocity_
Definition: device.hh:74
dynamicgraph::Signal< MatrixRotation, int > attitudeSOUT
Definition: device.hh:118
dynamicgraph::Signal< dg::Vector, int > motorcontrolSOUT
The current state of the robot from the command viewpoint.
Definition: device.hh:120
MatrixHomogeneous ffPose_
Store Position of free flyer joint.
Definition: device.hh:147
static const std::string CLASS_NAME
Definition: device.hh:47
Definition: abstract-sot-external-interface.hh:17
dg::Vector vel_control_
Definition: device.hh:61