sot-talos-balance  1.5.0
SimpleDistributeWrench Class Reference

#include <sot/talos_balance/simple-distribute-wrench.hh>

Inheritance diagram for SimpleDistributeWrench:
[legend]
Collaboration diagram for SimpleDistributeWrench:
[legend]

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW SimpleDistributeWrench (const std::string &name)
 
 DECLARE_SIGNAL_IN (wrenchDes, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (q, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (rho, double)
 
 DECLARE_SIGNAL_INNER (kinematics_computations, int)
 
 DECLARE_SIGNAL_INNER (wrenches, int)
 
 DECLARE_SIGNAL_OUT (wrenchLeft, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (wrenchRight, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (wrenchRef, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (zmpRef, dynamicgraph::Vector)
 
virtual void display (std::ostream &os) const
 
void init (const std::string &robotName)
 

Protected Attributes

pinocchio::Data m_data
 Pinocchio robot model. More...
 
bool m_initSucceeded
 
pinocchio::Model m_model
 true if the entity has been successfully initialized More...
 
RobotUtilShrPtr m_robot_util
 Pinocchio robot data. More...
 
dynamicgraph::Vector m_wrenchLeft
 
dynamicgraph::Vector m_wrenchRight
 

Detailed Description

Definition at line 56 of file simple-distribute-wrench.hh.

Constructor & Destructor Documentation

◆ SimpleDistributeWrench()

SimpleDistributeWrench ( const std::string &  name)

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/3]

DECLARE_SIGNAL_IN ( wrenchDes  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/3]

DECLARE_SIGNAL_IN ( ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [3/3]

DECLARE_SIGNAL_IN ( rho  ,
double   
)

◆ DECLARE_SIGNAL_INNER() [1/2]

DECLARE_SIGNAL_INNER ( kinematics_computations  ,
int   
)

◆ DECLARE_SIGNAL_INNER() [2/2]

DECLARE_SIGNAL_INNER ( wrenches  ,
int   
)

◆ DECLARE_SIGNAL_OUT() [1/4]

DECLARE_SIGNAL_OUT ( wrenchLeft  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [2/4]

DECLARE_SIGNAL_OUT ( wrenchRight  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [3/4]

DECLARE_SIGNAL_OUT ( wrenchRef  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [4/4]

DECLARE_SIGNAL_OUT ( zmpRef  ,
dynamicgraph::Vector   
)

◆ display()

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

Definition at line 267 of file simple-distribute-wrench.cpp.

◆ init()

Member Data Documentation

◆ m_data

pinocchio::Data m_data
protected

Pinocchio robot model.

Definition at line 94 of file simple-distribute-wrench.hh.

Referenced by SimpleDistributeWrench::init().

◆ m_initSucceeded

bool m_initSucceeded
protected

◆ m_model

pinocchio::Model m_model
protected

true if the entity has been successfully initialized

Definition at line 93 of file simple-distribute-wrench.hh.

Referenced by SimpleDistributeWrench::init().

◆ m_robot_util

RobotUtilShrPtr m_robot_util
protected

Pinocchio robot data.

Definition at line 95 of file simple-distribute-wrench.hh.

Referenced by SimpleDistributeWrench::init().

◆ m_wrenchLeft

dynamicgraph::Vector m_wrenchLeft
protected

◆ m_wrenchRight

dynamicgraph::Vector m_wrenchRight
protected

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