#include <sot/talos_balance/simple-distribute-wrench.hh>
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 |
Definition at line 56 of file simple-distribute-wrench.hh.
SimpleDistributeWrench | ( | const std::string & | name | ) |
Definition at line 60 of file simple-distribute-wrench.cpp.
References SimpleDistributeWrench::init(), INPUT_SIGNALS, and OUTPUT_SIGNALS.
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 |
Definition at line 267 of file simple-distribute-wrench.cpp.
void init | ( | const std::string & | robotName | ) |
Definition at line 81 of file simple-distribute-wrench.cpp.
References dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), SimpleDistributeWrench::m_data, SimpleDistributeWrench::m_initSucceeded, SimpleDistributeWrench::m_model, SimpleDistributeWrench::m_robot_util, and PROFILE_SIMPLE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS.
Referenced by SimpleDistributeWrench::SimpleDistributeWrench().
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protected |
Pinocchio robot model.
Definition at line 94 of file simple-distribute-wrench.hh.
Referenced by SimpleDistributeWrench::init().
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protected |
Definition at line 92 of file simple-distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION(), and SimpleDistributeWrench::init().
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protected |
true if the entity has been successfully initialized
Definition at line 93 of file simple-distribute-wrench.hh.
Referenced by SimpleDistributeWrench::init().
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protected |
Pinocchio robot data.
Definition at line 95 of file simple-distribute-wrench.hh.
Referenced by SimpleDistributeWrench::init().
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protected |
Definition at line 97 of file simple-distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION().
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protected |
Definition at line 98 of file simple-distribute-wrench.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION().