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 TalosControlManager 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.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | rf | , |
MatrixHomogeneous | |||
) |
Definition at line 106 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | rightWeight | , |
dynamicgraph::Vector | |||
) |
Definition at line 130 of file ft-wrist-calibration.cpp.
References FtWristCalibration::m_data, FtWristCalibration::m_initSucceeded, FtWristCalibration::m_model, FtWristCalibration::m_rightHandWeight, FtWristCalibration::m_rightLeverArm, and FtWristCalibration::m_rightSensorId.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | wrenches | , |
int | |||
) |
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | stateRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 146 of file com-admittance-controller.cpp.
References ComAdmittanceController::m_dt, ComAdmittanceController::m_initSucceeded, ComAdmittanceController::m_state, and PROFILE_COMADMITTANCECONTROLLER_STATEREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | w_force | , |
dynamicgraph::Vector | |||
) |
Definition at line 148 of file admittance-controller-end-effector.cpp.
References AdmittanceControllerEndEffector::m_data, AdmittanceControllerEndEffector::m_initSucceeded, AdmittanceControllerEndEffector::m_model, AdmittanceControllerEndEffector::m_n, AdmittanceControllerEndEffector::m_sensorFrameId, and PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_WFORCE_COMPUTATION.
Referenced by SimpleDistributeWrench::init().
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | leftWeight | , |
dynamicgraph::Vector | |||
) |
Definition at line 160 of file ft-wrist-calibration.cpp.
References FtWristCalibration::m_data, FtWristCalibration::m_initSucceeded, FtWristCalibration::m_leftHandWeight, FtWristCalibration::m_leftLeverArm, FtWristCalibration::m_leftSensorId, and FtWristCalibration::m_model.
DEFINE_SIGNAL_INNER_FUNCTION | ( | kinematics_computations | , |
int | |||
) |
Definition at line 173 of file distribute-wrench.cpp.
References DistributeWrench::m_data, DistributeWrench::m_initSucceeded, DistributeWrench::m_model, and PROFILE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | w_dq | , |
dynamicgraph::Vector | |||
) |
Definition at line 176 of file admittance-controller-end-effector.cpp.
References AdmittanceControllerEndEffector::m_dt, AdmittanceControllerEndEffector::m_initSucceeded, AdmittanceControllerEndEffector::m_n, AdmittanceControllerEndEffector::m_w_dq, and PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_WDQ_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | qp_computations | , |
int | |||
) |
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION | ( | kinematics_computations | , |
dynamicgraph::Vector | |||
) |
Definition at line 635 of file talos-base-estimator.cpp.
References DEFINE_SIGNAL_OUT_FUNCTION(), TalosBaseEstimator::kinematics_estimation(), TalosBaseEstimator::m_data, TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_K_lf, TalosBaseEstimator::m_K_rf, TalosBaseEstimator::m_left_foot_id, TalosBaseEstimator::m_left_foot_is_stable, TalosBaseEstimator::m_model, TalosBaseEstimator::m_oMff_lf, TalosBaseEstimator::m_oMff_rf, TalosBaseEstimator::m_oMlfs, TalosBaseEstimator::m_oMlfs_default_ref, TalosBaseEstimator::m_oMlfs_xyzquat, TalosBaseEstimator::m_oMrfs, TalosBaseEstimator::m_oMrfs_default_ref, TalosBaseEstimator::m_oMrfs_xyzquat, TalosBaseEstimator::m_oRff, TalosBaseEstimator::m_oRtorso, TalosBaseEstimator::m_q_pin, TalosBaseEstimator::m_q_sot, TalosBaseEstimator::m_reset_foot_pos, TalosBaseEstimator::m_right_foot_id, TalosBaseEstimator::m_right_foot_is_stable, TalosBaseEstimator::m_robot_util, TalosBaseEstimator::m_torso_id, TalosBaseEstimator::m_torsoMimu, TalosBaseEstimator::m_v_pin, TalosBaseEstimator::m_w_imu, matrixToRpy(), PROFILE_BASE_KINEMATICS_COMPUTATION, PROFILE_BASE_POSITION_ESTIMATION, TalosBaseEstimator::reset_foot_positions_impl(), rpyToMatrix(), se3Interp(), and wEulerMean().
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | sout | , |
bool | |||
) |
Definition at line 63 of file boolean-identity.cpp.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | sout | , |
MatrixHomogeneous | |||
) |
Definition at line 69 of file pose-quaternion-to-matrix-homo.cpp.
References PROFILE_POSEQUATERNIONTOMATRIXHOMO_COMPUTATION.
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.
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 | ( | q | , |
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.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dcm | , |
dynamicgraph::Vector | |||
) |
Definition at line 87 of file dummy-dcm-estimator.cpp.
References DummyDcmEstimator::m_initSucceeded, and PROFILE_DUMMYDCMESTIMATOR_DCM_COMPUTATION.
DEFINE_SIGNAL_OUT_FUNCTION | ( | dx_ref | , |
dynamicgraph::Vector | |||
) |
Definition at line 88 of file simple-pid.cpp.
References SimplePID::m_dt, SimplePID::m_initSucceeded, SimplePID::m_integralError, and PROFILE_SIMPLE_PID_DX_REF_COMPUTATION.
DEFINE_SIGNAL_OUT_FUNCTION | ( | dqRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 90 of file joint-position-controller.cpp.
References JointPositionController::m_initSucceeded, JointPositionController::m_n, and PROFILE_JOINTPOSITIONCONTROLLER_DQREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | ddx_ref | , |
dynamicgraph::Vector | |||
) |
Definition at line 99 of file simple-pidd.cpp.
References DEFINE_SIGNAL_OUT_FUNCTION(), SimplePIDD::m_dt, SimplePIDD::m_dx_ref, SimplePIDD::m_initSucceeded, SimplePIDD::m_integralError, and PROFILE_SIMPLE_PIDD_DDX_REF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | referenceFrame | , |
MatrixHomogeneous | |||
) |
Definition at line 101 of file simple-reference-frame.cpp.
References SimpleReferenceFrame::m_first, SimpleReferenceFrame::m_initSucceeded, SimpleReferenceFrame::m_referenceFrame, and SimpleReferenceFrame::m_rightFootSoleXYZ.
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.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | c | , |
dynamicgraph::Vector | |||
) |
Definition at line 104 of file dcm-estimator.cpp.
References DcmEstimator::m_data, DcmEstimator::m_initSucceeded, and DcmEstimator::m_model.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | right_foot_force_out | , |
dynamicgraph::Vector | |||
) |
Definition at line 104 of file ft-calibration.cpp.
References CALIB_ITER_TIME, FtCalibration::m_initSucceeded, FtCalibration::m_left_foot_weight, FtCalibration::m_right_calibration_iter, FtCalibration::m_right_FT_offset, and FtCalibration::m_right_FT_offset_calibration_sum.
DEFINE_SIGNAL_OUT_FUNCTION | ( | ddcomRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 117 of file com-admittance-controller.cpp.
References ComAdmittanceController::m_initSucceeded, and PROFILE_COMADMITTANCECONTROLLER_DDCOMREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dc | , |
dynamicgraph::Vector | |||
) |
Definition at line 117 of file dcm-estimator.cpp.
References DcmEstimator::m_data, DcmEstimator::m_initSucceeded, and DcmEstimator::m_model.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | comDes | , |
dynamicgraph::Vector | |||
) |
Definition at line 119 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::actInv(), and DummyWalkingPatternGenerator::m_initSucceeded.
DEFINE_SIGNAL_OUT_FUNCTION | ( | v | , |
dynamicgraph::Vector | |||
) |
TODO
TODO
Definition at line 122 of file state-transformation.cpp.
References PROFILE_STATETRANSFORMATION_V_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | nbJoints | , |
int | |||
) |
Definition at line 123 of file example.cpp.
References Example::m_initSucceeded, Example::m_robot_util, and PROFILE_EXAMPLE_NBJOINTS_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | qRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 130 of file simple-admittance-controller.cpp.
References SimpleAdmittanceController::m_dt, SimpleAdmittanceController::m_initSucceeded, SimpleAdmittanceController::m_n, SimpleAdmittanceController::m_q, SimpleAdmittanceController::m_useState, and PROFILE_SIMPLE_ADMITTANCECONTROLLER_QREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | left_foot_force_out | , |
dynamicgraph::Vector | |||
) |
Definition at line 131 of file ft-calibration.cpp.
References CALIB_ITER_TIME, FtCalibration::m_initSucceeded, FtCalibration::m_left_calibration_iter, FtCalibration::m_left_foot_weight, FtCalibration::m_left_FT_offset, and FtCalibration::m_left_FT_offset_calibration_sum.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | vcomDes | , |
dynamicgraph::Vector | |||
) |
Definition at line 139 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | u | , |
dynamicgraph::Vector | |||
) |
Definition at line 143 of file talos-control-manager.cpp.
References CTRL_MODE_TRANSITION_TIME_STEP, TalosControlManager::m_ctrlInputsSIN, TalosControlManager::m_initSucceeded, TalosControlManager::m_is_first_iter, TalosControlManager::m_jointCtrlModes_current, TalosControlManager::m_jointCtrlModes_previous, TalosControlManager::m_jointCtrlModesCountDown, TalosControlManager::m_numDofs, and TalosControlManager::updateJointCtrlModesOutputSignal().
DEFINE_SIGNAL_OUT_FUNCTION | ( | zmpRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 153 of file dcm-com-controller.cpp.
References DcmComController::m_initSucceeded, and PROFILE_DCMCOMCONTROLLER_ZMPREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | acomDes | , |
dynamicgraph::Vector | |||
) |
Definition at line 159 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | comRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 172 of file com-admittance-controller.cpp.
References ComAdmittanceController::m_initSucceeded, and PROFILE_COMADMITTANCECONTROLLER_COMREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmp | , |
dynamicgraph::Vector | |||
) |
Definition at line 173 of file simple-zmp-estimator.cpp.
References DEFINE_SIGNAL_OUT_FUNCTION(), SimpleZmpEstimator::m_emergency_stop_triggered, SimpleZmpEstimator::m_eps, SimpleZmpEstimator::m_initSucceeded, and PROFILE_SIMPLEZMPESTIMATOR_ZMP_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dcmDes | , |
dynamicgraph::Vector | |||
) |
Definition at line 179 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | x | , |
dynamicgraph::Vector | |||
) |
Definition at line 180 of file nd-trajectory-generator.cpp.
References NdTrajectoryGenerator::JTG_SPLINE, NdTrajectoryGenerator::JTG_STOP, NdTrajectoryGenerator::JTG_TEXT_FILE, NdTrajectoryGenerator::m_currentTrajGen, NdTrajectoryGenerator::m_dt, NdTrajectoryGenerator::m_firstIter, NdTrajectoryGenerator::m_initSucceeded, NdTrajectoryGenerator::m_iterLast, NdTrajectoryGenerator::m_n, NdTrajectoryGenerator::m_noTrajGen, NdTrajectoryGenerator::m_splineReady, NdTrajectoryGenerator::m_splineTrajGen, NdTrajectoryGenerator::m_status, NdTrajectoryGenerator::m_t, NdTrajectoryGenerator::m_textFileTrajGen, PROFILE_ND_POSITION_DESIRED_COMPUTATION, and NdTrajectoryGenerator::startSpline().
DEFINE_SIGNAL_OUT_FUNCTION | ( | wrenchRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 180 of file dcm-com-controller.cpp.
References DcmComController::m_initSucceeded, and PROFILE_DCMCOMCONTROLLER_WRENCHREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | rightWristForceOut | , |
dynamicgraph::Vector | |||
) |
Definition at line 189 of file ft-wrist-calibration.cpp.
References CALIB_ITER_TIME, FtWristCalibration::m_initSucceeded, FtWristCalibration::m_removeWeight, FtWristCalibration::m_right_FT_offset, FtWristCalibration::m_right_FT_offset_calibration_sum, FtWristCalibration::m_right_weight_calibration_sum, and FtWristCalibration::m_rightCalibrationIter.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dcomRef | , |
dynamicgraph::Vector | |||
) |
Definition at line 193 of file com-admittance-controller.cpp.
References ComAdmittanceController::m_initSucceeded, and PROFILE_COMADMITTANCECONTROLLER_DCOMREF_COMPUTATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmpDes | , |
dynamicgraph::Vector | |||
) |
Definition at line 198 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::actInv(), and DummyWalkingPatternGenerator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | u_safe | , |
dynamicgraph::Vector | |||
) |
Definition at line 211 of file talos-control-manager.cpp.
References TalosControlManager::m_emergency_stop_triggered, TalosControlManager::m_emergencyStopVector, TalosControlManager::m_initSucceeded, and TalosControlManager::m_numDofs.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dq | , |
dynamicgraph::Vector | |||
) |
Definition at line 214 of file admittance-controller-end-effector.cpp.
References AdmittanceControllerEndEffector::m_data, AdmittanceControllerEndEffector::m_endEffectorId, AdmittanceControllerEndEffector::m_initSucceeded, AdmittanceControllerEndEffector::m_n, and PROFILE_ADMITTANCECONTROLLERENDEFFECTOR_DQ_COMPUTATION.
Referenced by SimpleZmpEstimator::computeCoP(), DEFINE_SIGNAL_INNER_FUNCTION(), DEFINE_SIGNAL_OUT_FUNCTION(), DcmController::resetDcmIntegralError(), DcmComController::resetDcmIntegralError(), and SimpleAdmittanceController::setPosition().
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | leftWristForceOut | , |
dynamicgraph::Vector | |||
) |
Definition at line 225 of file ft-wrist-calibration.cpp.
References CALIB_ITER_TIME, FtWristCalibration::m_initSucceeded, FtWristCalibration::m_left_FT_offset, FtWristCalibration::m_left_FT_offset_calibration_sum, FtWristCalibration::m_left_weight_calibration_sum, FtWristCalibration::m_leftCalibrationIter, and FtWristCalibration::m_removeWeight.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | footLeftDes | , |
MatrixHomogeneous | |||
) |
Definition at line 235 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::actInv(), and DummyWalkingPatternGenerator::m_initSucceeded.
DEFINE_SIGNAL_OUT_FUNCTION | ( | wrenchLeft | , |
dynamicgraph::Vector | |||
) |
Definition at line 248 of file distribute-wrench.cpp.
References DistributeWrench::m_initSucceeded, and DistributeWrench::m_wrenchLeft.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | footRightDes | , |
MatrixHomogeneous | |||
) |
Definition at line 252 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::actInv(), and DummyWalkingPatternGenerator::m_initSucceeded.
DEFINE_SIGNAL_OUT_FUNCTION | ( | wrenchRight | , |
dynamicgraph::Vector | |||
) |
Definition at line 261 of file distribute-wrench.cpp.
References DistributeWrench::m_initSucceeded, and DistributeWrench::m_wrenchRight.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | waistDes | , |
MatrixHomogeneous | |||
) |
Definition at line 269 of file dummy-walking-pattern-generator.cpp.
References DummyWalkingPatternGenerator::actInv(), and DummyWalkingPatternGenerator::m_initSucceeded.
DEFINE_SIGNAL_OUT_FUNCTION | ( | copLeft | , |
dynamicgraph::Vector | |||
) |
Definition at line 274 of file distribute-wrench.cpp.
References DistributeWrench::computeCoP(), DistributeWrench::m_ankle_M_ftSens, DistributeWrench::m_data, DistributeWrench::m_initSucceeded, and DistributeWrench::m_left_foot_id.
DEFINE_SIGNAL_OUT_FUNCTION | ( | copRight | , |
dynamicgraph::Vector | |||
) |
Definition at line 292 of file distribute-wrench.cpp.
References DistributeWrench::computeCoP(), DEFINE_SIGNAL_OUT_FUNCTION(), DistributeWrench::m_ankle_M_ftSens, DistributeWrench::m_data, DistributeWrench::m_initSucceeded, and DistributeWrench::m_right_foot_id.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | dx | , |
dynamicgraph::Vector | |||
) |
Definition at line 296 of file nd-trajectory-generator.cpp.
References NdTrajectoryGenerator::JTG_SPLINE, NdTrajectoryGenerator::JTG_TEXT_FILE, NdTrajectoryGenerator::m_currentTrajGen, NdTrajectoryGenerator::m_initSucceeded, NdTrajectoryGenerator::m_n, NdTrajectoryGenerator::m_splineTrajGen, NdTrajectoryGenerator::m_status, NdTrajectoryGenerator::m_t, and NdTrajectoryGenerator::m_textFileTrajGen.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | ddx | , |
dynamicgraph::Vector | |||
) |
Definition at line 328 of file nd-trajectory-generator.cpp.
References NdTrajectoryGenerator::JTG_SPLINE, NdTrajectoryGenerator::JTG_TEXT_FILE, NdTrajectoryGenerator::m_currentTrajGen, NdTrajectoryGenerator::m_initSucceeded, NdTrajectoryGenerator::m_n, NdTrajectoryGenerator::m_splineTrajGen, NdTrajectoryGenerator::m_status, NdTrajectoryGenerator::m_t, and NdTrajectoryGenerator::m_textFileTrajGen.
DEFINE_SIGNAL_OUT_FUNCTION | ( | emergencyStop | , |
bool | |||
) |
Definition at line 366 of file distribute-wrench.cpp.
References DistributeWrench::m_emergency_stop_triggered.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | lf_xyzquat | , |
dynamicgraph::Vector | |||
) |
Definition at line 867 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_oMlfs_xyzquat.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | rf_xyzquat | , |
dynamicgraph::Vector | |||
) |
Definition at line 882 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_oMrfs_xyzquat.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | q_lf | , |
dynamicgraph::Vector | |||
) |
Definition at line 897 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_oMff_lf, and TalosBaseEstimator::m_robot_util.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | q_rf | , |
dynamicgraph::Vector | |||
) |
Definition at line 914 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_oMff_rf, and TalosBaseEstimator::m_robot_util.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | q_imu | , |
dynamicgraph::Vector | |||
) |
Definition at line 931 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_data, TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_oRff, TalosBaseEstimator::m_robot_util, TalosBaseEstimator::m_torso_id, and TalosBaseEstimator::m_torsoMimu.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | w_lf | , |
double | |||
) |
Definition at line 957 of file talos-base-estimator.cpp.
References TalosBaseEstimator::compute_force_weight(), TalosBaseEstimator::compute_zmp(), TalosBaseEstimator::compute_zmp_weight(), TalosBaseEstimator::m_fz_margin_lf, TalosBaseEstimator::m_fz_stable_windows_size, TalosBaseEstimator::m_fz_std_dev_lf, TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_left_foot_is_stable, TalosBaseEstimator::m_left_foot_sizes, TalosBaseEstimator::m_lf_fz_stable_cpt, TalosBaseEstimator::m_zmp_margin_lf, and TalosBaseEstimator::m_zmp_std_dev_lf.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | w_rf | , |
double | |||
) |
Definition at line 990 of file talos-base-estimator.cpp.
References TalosBaseEstimator::compute_force_weight(), TalosBaseEstimator::compute_zmp(), TalosBaseEstimator::compute_zmp_weight(), TalosBaseEstimator::m_fz_margin_rf, TalosBaseEstimator::m_fz_stable_windows_size, TalosBaseEstimator::m_fz_std_dev_rf, TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_rf_fz_stable_cpt, TalosBaseEstimator::m_right_foot_is_stable, TalosBaseEstimator::m_right_foot_sizes, TalosBaseEstimator::m_zmp_margin_rf, and TalosBaseEstimator::m_zmp_std_dev_rf.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | w_rf_filtered | , |
double | |||
) |
Definition at line 1024 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_alpha_w_filter, TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_w_rf_filtered.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | w_lf_filtered | , |
double | |||
) |
Definition at line 1037 of file talos-base-estimator.cpp.
References DEFINE_SIGNAL_OUT_FUNCTION(), TalosBaseEstimator::m_alpha_DC_acc, TalosBaseEstimator::m_alpha_DC_vel, TalosBaseEstimator::m_alpha_w_filter, TalosBaseEstimator::m_data, TalosBaseEstimator::m_dt, TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_isFirstIterFlag, TalosBaseEstimator::m_K_lf, TalosBaseEstimator::m_K_rf, TalosBaseEstimator::m_last_DCacc, TalosBaseEstimator::m_last_DCvel, TalosBaseEstimator::m_last_vel, TalosBaseEstimator::m_left_foot_id, TalosBaseEstimator::m_left_foot_is_stable, TalosBaseEstimator::m_model, TalosBaseEstimator::m_oRff, TalosBaseEstimator::m_oRtorso, TalosBaseEstimator::m_right_foot_id, TalosBaseEstimator::m_right_foot_is_stable, TalosBaseEstimator::m_robot_util, TalosBaseEstimator::m_torso_id, TalosBaseEstimator::m_torsoMimu, TalosBaseEstimator::m_v_ac, TalosBaseEstimator::m_v_flex, TalosBaseEstimator::m_v_gyr, TalosBaseEstimator::m_v_imu, TalosBaseEstimator::m_v_kin, TalosBaseEstimator::m_v_sot, TalosBaseEstimator::m_w_lf_filtered, and PROFILE_BASE_VELOCITY_ESTIMATION.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_kin | , |
dynamicgraph::Vector | |||
) |
Definition at line 1234 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_v_kin.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_flex | , |
dynamicgraph::Vector | |||
) |
Definition at line 1246 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, TalosBaseEstimator::m_v_flex, and TalosBaseEstimator::m_v_kin.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_imu | , |
dynamicgraph::Vector | |||
) |
Definition at line 1258 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_v_imu.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_gyr | , |
dynamicgraph::Vector | |||
) |
Definition at line 1270 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_v_gyr.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_ac | , |
dynamicgraph::Vector | |||
) |
Definition at line 1282 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_initSucceeded, and TalosBaseEstimator::m_v_ac.
dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION | ( | a_ac | , |
dynamicgraph::Vector | |||
) |
Definition at line 1294 of file talos-base-estimator.cpp.
References TalosBaseEstimator::m_a_ac, and TalosBaseEstimator::m_initSucceeded.
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | QualisysClient | , |
"QualisysClient" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | FtCalibration | , |
"FtCalibration" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | BooleanIdentity | , |
"BooleanIdentity" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DcmEstimator | , |
"DcmEstimator" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | FtWristCalibration | , |
"FtWristCalibration" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | NdTrajectoryGenerator | , |
"NdTrajectoryGenerator" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | Example | , |
"Example" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DummyDcmEstimator | , |
"DummyDcmEstimator" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimplePIDD | , |
"SimplePIDD" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimplePID | , |
"SimplePID" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimpleReferenceFrame | , |
"SimpleReferenceFrame" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | AdmittanceControllerEndEffector | , |
"AdmittanceControllerEndEffector" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | EulerToQuat | , |
"EulerToQuat" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | QuatToEuler | , |
"QuatToEuler" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | PoseQuaternionToMatrixHomo | , |
"PoseQuaternionToMatrixHomo" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | JointPositionController | , |
"JointPositionController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DcmController | , |
"DcmController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | StateTransformation | , |
"StateTransformation" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimpleZmpEstimator | , |
"SimpleZmpEstimator" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DcmComController | , |
"DcmComController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DummyWalkingPatternGenerator | , |
"DummyWalkingPatternGenerator" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimpleAdmittanceController | , |
"SimpleAdmittanceController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | TalosControlManager | , |
"TalosControlManager" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | ComAdmittanceController | , |
"ComAdmittanceController" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimpleDistributeWrench | , |
"SimpleDistributeWrench" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DistributeWrench | , |
"DistributeWrench" | |||
) |
dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | TalosBaseEstimator | , |
"TalosBaseEstimator" | |||
) |
|
inline |
Avoids singularity while taking the mean of euler angles
Definition at line 108 of file talos-base-estimator.cpp.
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().
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.
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().
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().
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().
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().
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().
|
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().