11 #ifndef __sot_talos_balance_admittance_controller_end_effector_H__ 12 #define __sot_talos_balance_admittance_controller_end_effector_H__ 19 # if defined(admittance_controller_end_effector_EXPORTS) 20 # define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT __declspec(dllexport) 22 # define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT __declspec(dllimport) 25 # define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT 32 #include <dynamic-graph/signal-helper.h> 34 #include "boost/assign.hpp" 36 #include <pinocchio/parsers/urdf.hpp> 37 #include <pinocchio/multibody/model.hpp> 38 #include "pinocchio/spatial/se3.hpp" 39 #include "pinocchio/spatial/motion.hpp" 40 #include <sot/core/robot-utils.hh> 41 #include <pinocchio/algorithm/kinematics.hpp> 42 #include <pinocchio/algorithm/frames.hpp> 43 #include <pinocchio/algorithm/center-of-mass.hpp> 49 namespace talos_balance
66 :
public ::dynamicgraph::Entity
68 DYNAMIC_GRAPH_ENTITY_DECL();
71 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
107 void init(
const double &dt,
const std::string &sensorFrameName,
108 const std::string &endeffectorName);
116 virtual void display(std::ostream &os)
const;
147 #endif // #ifndef __sot_talos_balance_admittance_controller_end_effector_H__ dynamicgraph::Vector m_w_dq
Internal state.
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
RobotUtilShrPtr m_robot_util
Robot Util instance to get the sensor frame.
#define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT
bool m_initSucceeded
True if the entity has been successfully initialized.
pinocchio::Data * m_data
Pinocchio robot data.
Admittance controller for an upper body end-effector (right or left wrist)
int m_n
Dimension of the force signals and of the output.
pinocchio::FrameIndex m_sensorFrameId
Id of the force sensor frame.
double m_dt
Time step of the control.
pinocchio::JointIndex m_endEffectorId
Id of the joint of the end-effector.
pinocchio::Model m_model
Pinocchio robot model.