sot-talos-balance  1.5.0
dynamicgraph::sot::talos_balance Namespace Reference

Namespaces

 math
 
 robots
 

Classes

class  AdmittanceControllerEndEffector
 Admittance controller for an upper body end-effector (right or left wrist) More...
 
class  BooleanIdentity
 
class  ComAdmittanceController
 
class  CtrlMode
 
class  DcmComController
 
class  DcmController
 
class  DcmEstimator
 
class  DistributeWrench
 
class  DummyDcmEstimator
 
class  DummyWalkingPatternGenerator
 
class  EulerToQuat
 
class  Example
 
class  FtCalibration
 
class  FtWristCalibration
 
class  JointPositionController
 
class  NdTrajectoryGenerator
 
class  PoseQuaternionToMatrixHomo
 
class  QualisysClient
 
class  QuatToEuler
 
class  SimpleAdmittanceController
 
class  SimpleDistributeWrench
 
class  SimplePID
 
class  SimplePIDD
 
class  SimpleReferenceFrame
 
class  SimpleZmpEstimator
 
class  StateTransformation
 
class  TalosBaseEstimator
 
class  TalosControlManager
 

Typedefs

typedef AdmittanceControllerEndEffector EntityClassName
 

Functions

 DEFINE_SIGNAL_INNER_FUNCTION (rf, MatrixHomogeneous)
 
 DEFINE_SIGNAL_INNER_FUNCTION (rightWeight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (wrenches, int)
 
 DEFINE_SIGNAL_INNER_FUNCTION (stateRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (w_force, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (leftWeight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (kinematics_computations, int)
 
 DEFINE_SIGNAL_INNER_FUNCTION (w_dq, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (qp_computations, int)
 
 DEFINE_SIGNAL_INNER_FUNCTION (kinematics_computations, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (sout, bool)
 
 DEFINE_SIGNAL_OUT_FUNCTION (sout, MatrixHomogeneous)
 
 DEFINE_SIGNAL_OUT_FUNCTION (euler, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (quaternion, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dcm, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dx_ref, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dqRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ddx_ref, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (referenceFrame, MatrixHomogeneous)
 
 DEFINE_SIGNAL_OUT_FUNCTION (sum, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (c, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_foot_force_out, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ddcomRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dc, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (comDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (nbJoints, int)
 
 DEFINE_SIGNAL_OUT_FUNCTION (qRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_foot_force_out, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vcomDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (u, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmpRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (acomDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (comRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dcmDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (x, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (wrenchRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (rightWristForceOut, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dcomRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmpDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (u_safe, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dq, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (leftWristForceOut, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (footLeftDes, MatrixHomogeneous)
 
 DEFINE_SIGNAL_OUT_FUNCTION (wrenchLeft, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (footRightDes, MatrixHomogeneous)
 
 DEFINE_SIGNAL_OUT_FUNCTION (wrenchRight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (waistDes, MatrixHomogeneous)
 
 DEFINE_SIGNAL_OUT_FUNCTION (copLeft, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (copRight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dx, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ddx, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (emergencyStop, bool)
 
 DEFINE_SIGNAL_OUT_FUNCTION (lf_xyzquat, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (rf_xyzquat, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_lf, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_rf, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_imu, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_lf, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_rf, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_rf_filtered, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_lf_filtered, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_kin, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_flex, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_imu, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_gyr, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_ac, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (a_ac, dynamicgraph::Vector)
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (QualisysClient, "QualisysClient")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FtCalibration, "FtCalibration")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (BooleanIdentity, "BooleanIdentity")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DcmEstimator, "DcmEstimator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FtWristCalibration, "FtWristCalibration")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (NdTrajectoryGenerator, "NdTrajectoryGenerator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Example, "Example")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DummyDcmEstimator, "DummyDcmEstimator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimplePIDD, "SimplePIDD")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimplePID, "SimplePID")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleReferenceFrame, "SimpleReferenceFrame")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (AdmittanceControllerEndEffector, "AdmittanceControllerEndEffector")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (EulerToQuat, "EulerToQuat")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (QuatToEuler, "QuatToEuler")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (PoseQuaternionToMatrixHomo, "PoseQuaternionToMatrixHomo")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (JointPositionController, "JointPositionController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DcmController, "DcmController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (StateTransformation, "StateTransformation")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleZmpEstimator, "SimpleZmpEstimator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DcmComController, "DcmComController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DummyWalkingPatternGenerator, "DummyWalkingPatternGenerator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleAdmittanceController, "SimpleAdmittanceController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (TalosControlManager, "TalosControlManager")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ComAdmittanceController, "ComAdmittanceController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleDistributeWrench, "SimpleDistributeWrench")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DistributeWrench, "DistributeWrench")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (TalosBaseEstimator, "TalosBaseEstimator")
 
double eulerMean (double a1, double a2)
 
void matrixToRpy (const Eigen::Matrix3d &M, Eigen::Vector3d &rpy)
 
std::ostream & operator<< (std::ostream &os, const CtrlMode &s)
 
void pointRotationByQuaternion (const Eigen::Vector3d &point, const Eigen::Vector4d &quat, Eigen::Vector3d &rotatedPoint)
 
void quanternionMult (const Eigen::Vector4d &q1, const Eigen::Vector4d &q2, Eigen::Vector4d &q12)
 
void rpyToMatrix (double r, double p, double y, Eigen::Matrix3d &R)
 
void rpyToMatrix (const Eigen::Vector3d &rpy, Eigen::Matrix3d &R)
 
void se3Interp (const pinocchio::SE3 &s1, const pinocchio::SE3 &s2, const double alpha, pinocchio::SE3 &s12)
 
double wEulerMean (double a1, double a2, double w1, double w2)
 

Typedef Documentation

◆ EntityClassName

Define EntityClassName here rather than in the header file so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION.

Definition at line 45 of file admittance-controller-end-effector.cpp.

Function Documentation

◆ DEFINE_SIGNAL_INNER_FUNCTION() [1/10]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( rf  ,
MatrixHomogeneous   
)

◆ DEFINE_SIGNAL_INNER_FUNCTION() [2/10]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( rightWeight  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_INNER_FUNCTION() [3/10]

◆ DEFINE_SIGNAL_INNER_FUNCTION() [4/10]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( stateRef  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_INNER_FUNCTION() [5/10]

◆ DEFINE_SIGNAL_INNER_FUNCTION() [6/10]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( leftWeight  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_INNER_FUNCTION() [7/10]

DEFINE_SIGNAL_INNER_FUNCTION ( kinematics_computations  ,
int   
)

◆ DEFINE_SIGNAL_INNER_FUNCTION() [8/10]

◆ DEFINE_SIGNAL_INNER_FUNCTION() [9/10]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( qp_computations  ,
int   
)

◆ DEFINE_SIGNAL_INNER_FUNCTION() [10/10]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [1/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( sout  ,
bool   
)

Definition at line 63 of file boolean-identity.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [2/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( sout  ,
MatrixHomogeneous   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [3/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( euler  ,
dynamicgraph::Vector   
)

Definition at line 69 of file quat-to-euler.cpp.

References PROFILE_QUATTOEULER_COMPUTATION.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [4/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( quaternion  ,
dynamicgraph::Vector   
)

Definition at line 69 of file euler-to-quat.cpp.

References PROFILE_EULERTOQUAT_COMPUTATION.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [5/60]

DEFINE_SIGNAL_OUT_FUNCTION ( ,
dynamicgraph::Vector   
)

apply feedback correction

convert from xyzquat to se3

find translation to apply to both feet to minimise distances to reference positions

two vectors define by left to right feet translation

angle betwin this two vectors projected in horizontal plane is the yaw drift

apply correction to cancel this drift

apply feedback correction

convert from xyzquat to se3

find translation to apply to both feet to minimise distances to reference positions

two vectors define by left to right feet translation

angle betwin this two vectors projected in horizontal plane is the yaw drift

apply correction to cancel this drift

Definition at line 79 of file state-transformation.cpp.

References PROFILE_STATETRANSFORMATION_Q_COMPUTATION.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [6/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dcm  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [7/60]

DEFINE_SIGNAL_OUT_FUNCTION ( dx_ref  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [8/60]

DEFINE_SIGNAL_OUT_FUNCTION ( dqRef  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [9/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( ddx_ref  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [10/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( referenceFrame  ,
MatrixHomogeneous   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [11/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( sum  ,
double   
)

Definition at line 103 of file example.cpp.

References Example::m_initSucceeded, and PROFILE_EXAMPLE_SUM_COMPUTATION.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [12/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [13/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( right_foot_force_out  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [14/60]

DEFINE_SIGNAL_OUT_FUNCTION ( ddcomRef  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [15/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dc  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [16/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( comDes  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [17/60]

DEFINE_SIGNAL_OUT_FUNCTION ( ,
dynamicgraph::Vector   
)
  • Extract DC component by low pass filter and remove it*/

TODO

  • Extract DC component by low pass filter and remove it*/

TODO

Definition at line 122 of file state-transformation.cpp.

References PROFILE_STATETRANSFORMATION_V_COMPUTATION.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [18/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( nbJoints  ,
int   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [19/60]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [20/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( left_foot_force_out  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [21/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( vcomDes  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [22/60]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [23/60]

DEFINE_SIGNAL_OUT_FUNCTION ( zmpRef  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [24/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( acomDes  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [25/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( comRef  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [26/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( zmp  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [27/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dcmDes  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [28/60]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [29/60]

DEFINE_SIGNAL_OUT_FUNCTION ( wrenchRef  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [30/60]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [31/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dcomRef  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [32/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( zmpDes  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [33/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( u_safe  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [34/60]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [35/60]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [36/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( footLeftDes  ,
MatrixHomogeneous   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [37/60]

DEFINE_SIGNAL_OUT_FUNCTION ( wrenchLeft  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [38/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( footRightDes  ,
MatrixHomogeneous   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [39/60]

DEFINE_SIGNAL_OUT_FUNCTION ( wrenchRight  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [40/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( waistDes  ,
MatrixHomogeneous   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [41/60]

DEFINE_SIGNAL_OUT_FUNCTION ( copLeft  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [42/60]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [43/60]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [44/60]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [45/60]

DEFINE_SIGNAL_OUT_FUNCTION ( emergencyStop  ,
bool   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [46/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( lf_xyzquat  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [47/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( rf_xyzquat  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [48/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( q_lf  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [49/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( q_rf  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [50/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( q_imu  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [51/60]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [52/60]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [53/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( w_rf_filtered  ,
double   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [54/60]

◆ DEFINE_SIGNAL_OUT_FUNCTION() [55/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( v_kin  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [56/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( v_flex  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [57/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( v_imu  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [58/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( v_gyr  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [59/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( v_ac  ,
dynamicgraph::Vector   
)

◆ DEFINE_SIGNAL_OUT_FUNCTION() [60/60]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( a_ac  ,
dynamicgraph::Vector   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [1/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( QualisysClient  ,
"QualisysClient"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [2/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( FtCalibration  ,
"FtCalibration"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [3/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( BooleanIdentity  ,
"BooleanIdentity"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [4/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DcmEstimator  ,
"DcmEstimator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [5/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( FtWristCalibration  ,
"FtWristCalibration"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [6/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( NdTrajectoryGenerator  ,
"NdTrajectoryGenerator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [7/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( Example  ,
"Example"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [8/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DummyDcmEstimator  ,
"DummyDcmEstimator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [9/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimplePIDD  ,
"SimplePIDD"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [10/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimplePID  ,
"SimplePID"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [11/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimpleReferenceFrame  ,
"SimpleReferenceFrame"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [12/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( AdmittanceControllerEndEffector  ,
"AdmittanceControllerEndEffector"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [13/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( EulerToQuat  ,
"EulerToQuat"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [14/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( QuatToEuler  ,
"QuatToEuler"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [15/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( PoseQuaternionToMatrixHomo  ,
"PoseQuaternionToMatrixHomo"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [16/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( JointPositionController  ,
"JointPositionController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [17/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DcmController  ,
"DcmController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [18/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( StateTransformation  ,
"StateTransformation"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [19/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimpleZmpEstimator  ,
"SimpleZmpEstimator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [20/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DcmComController  ,
"DcmComController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [21/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DummyWalkingPatternGenerator  ,
"DummyWalkingPatternGenerator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [22/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimpleAdmittanceController  ,
"SimpleAdmittanceController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [23/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( TalosControlManager  ,
"TalosControlManager"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [24/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( ComAdmittanceController  ,
"ComAdmittanceController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [25/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimpleDistributeWrench  ,
"SimpleDistributeWrench"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [26/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DistributeWrench  ,
"DistributeWrench"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [27/27]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( TalosBaseEstimator  ,
"TalosBaseEstimator"   
)

◆ eulerMean()

double eulerMean ( double  a1,
double  a2 
)
inline

Avoids singularity while taking the mean of euler angles

Definition at line 108 of file talos-base-estimator.cpp.

◆ matrixToRpy()

void matrixToRpy ( const Eigen::Matrix3d &  M,
Eigen::Vector3d &  rpy 
)

Convert from Transformation Matrix to Roll, Pitch, Yaw

Definition at line 66 of file talos-base-estimator.cpp.

Referenced by DEFINE_SIGNAL_INNER_FUNCTION().

◆ operator<<()

std::ostream& dynamicgraph::sot::talos_balance::operator<< ( std::ostream &  os,
const CtrlMode s 
)

Definition at line 67 of file talos-control-manager.hh.

References CtrlMode::id, and CtrlMode::name.

◆ pointRotationByQuaternion()

void pointRotationByQuaternion ( const Eigen::Vector3d &  point,
const Eigen::Vector4d &  quat,
Eigen::Vector3d &  rotatedPoint 
)

Rotate a point or a vector by a quaternion stored in (w,x,y,z) format

Definition at line 93 of file talos-base-estimator.cpp.

References quanternionMult().

Referenced by quanternionMult().

◆ quanternionMult()

void quanternionMult ( const Eigen::Vector4d &  q1,
const Eigen::Vector4d &  q2,
Eigen::Vector4d &  q12 
)

Multiply to quaternions stored in (w,x,y,z) format

Definition at line 82 of file talos-base-estimator.cpp.

References pointRotationByQuaternion().

Referenced by pointRotationByQuaternion().

◆ rpyToMatrix() [1/2]

void rpyToMatrix ( double  r,
double  p,
double  y,
Eigen::Matrix3d &  R 
)

Convert from Roll, Pitch, Yaw to transformation Matrix.

Definition at line 51 of file talos-base-estimator.cpp.

Referenced by DEFINE_SIGNAL_INNER_FUNCTION(), TalosBaseEstimator::kinematics_estimation(), and rpyToMatrix().

◆ rpyToMatrix() [2/2]

void rpyToMatrix ( const Eigen::Vector3d &  rpy,
Eigen::Matrix3d &  R 
)

Convert from Roll, Pitch, Yaw to transformation Matrix.

Definition at line 61 of file talos-base-estimator.cpp.

References rpyToMatrix().

◆ se3Interp()

void se3Interp ( const pinocchio::SE3 &  s1,
const pinocchio::SE3 &  s2,
const double  alpha,
pinocchio::SE3 &  s12 
)

Compute s12 as an intermediate transform between s1 and s2 SE3 transforms

Definition at line 37 of file talos-base-estimator.cpp.

Referenced by DEFINE_SIGNAL_INNER_FUNCTION().

◆ wEulerMean()

double wEulerMean ( double  a1,
double  a2,
double  w1,
double  w2 
)
inline

Avoids singularity while taking the mean of euler angles

Definition at line 119 of file talos-base-estimator.cpp.

Referenced by DEFINE_SIGNAL_INNER_FUNCTION().