sot-talos-balance  1.5.0
simple-distribute-wrench.hh
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1 /*
2  * Copyright 2018, Gepetto team, LAAS-CNRS
3  *
4  * This file is part of sot-talos-balance.
5  * sot-talos-balance is free software: you can redistribute it and/or
6  * modify it under the terms of the GNU Lesser General Public License
7  * as published by the Free Software Foundation, either version 3 of
8  * the License, or (at your option) any later version.
9  * sot-talos-balance is distributed in the hope that it will be
10  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU Lesser General Public License for more details. You should
13  * have received a copy of the GNU Lesser General Public License along
14  * with sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
15  */
16 
17 #ifndef __sot_talos_balance_simple_distribute_wrench_H__
18 #define __sot_talos_balance_simple_distribute_wrench_H__
19 
20 /* --------------------------------------------------------------------- */
21 /* --- API ------------------------------------------------------------- */
22 /* --------------------------------------------------------------------- */
23 
24 #if defined (WIN32)
25 # if defined (position_controller_EXPORTS)
26 # define SIMPLE_DISTRIBUTE_WRENCH_EXPORT __declspec(dllexport)
27 # else
28 # define SIMPLE_DISTRIBUTE_WRENCH_EXPORT __declspec(dllimport)
29 # endif
30 #else
31 # define SIMPLE_DISTRIBUTE_WRENCH_EXPORT
32 #endif
33 
34 
35 /* --------------------------------------------------------------------- */
36 /* --- INCLUDE --------------------------------------------------------- */
37 /* --------------------------------------------------------------------- */
38 
39 #include <dynamic-graph/signal-helper.h>
40 
41 #include <map>
42 #include "boost/assign.hpp"
43 #include <sot/core/robot-utils.hh>
44 
45 #include <pinocchio/multibody/model.hpp>
46 #include <pinocchio/multibody/data.hpp>
47 
48 namespace dynamicgraph {
49  namespace sot {
50  namespace talos_balance {
51 
52  /* --------------------------------------------------------------------- */
53  /* --- CLASS ----------------------------------------------------------- */
54  /* --------------------------------------------------------------------- */
55 
57  : public ::dynamicgraph::Entity
58  {
59  DYNAMIC_GRAPH_ENTITY_DECL();
60 
61  public:
62  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
63 
64  /* --- CONSTRUCTOR ---- */
65  SimpleDistributeWrench( const std::string & name );
66 
67  void init(const std::string& robotName);
68 
69  /* --- SIGNALS --- */
70  DECLARE_SIGNAL_IN(wrenchDes, dynamicgraph::Vector);
71  DECLARE_SIGNAL_IN(q, dynamicgraph::Vector);
72  DECLARE_SIGNAL_IN(rho, double);
73 
74  DECLARE_SIGNAL_INNER(kinematics_computations, int);
75  DECLARE_SIGNAL_INNER(wrenches, int);
76 
77  DECLARE_SIGNAL_OUT(wrenchLeft, dynamicgraph::Vector);
78 // DECLARE_SIGNAL_OUT(copLeft, dynamicgraph::Vector);
79  DECLARE_SIGNAL_OUT(wrenchRight, dynamicgraph::Vector);
80 // DECLARE_SIGNAL_OUT(copRight, dynamicgraph::Vector);
81 
82  DECLARE_SIGNAL_OUT(wrenchRef, dynamicgraph::Vector);
83  DECLARE_SIGNAL_OUT(zmpRef, dynamicgraph::Vector);
84 
85  /* --- COMMANDS --- */
86  /* --- ENTITY INHERITANCE --- */
87  virtual void display( std::ostream& os ) const;
88 
89 // dynamicgraph::Vector computeCoP(const dynamicgraph::Vector & wrench, const MatrixHomogeneous & pose) const;
90 
91  protected:
93  pinocchio::Model m_model;
94  pinocchio::Data m_data;
95  RobotUtilShrPtr m_robot_util;
96 
99  }; // class SimpleDistributeWrench
100 
101  } // namespace talos_balance
102  } // namespace sot
103 } // namespace dynamicgraph
104 
105 
106 
107 #endif // #ifndef __sot_talos_balance_simple_distribute_wrench_H__
pinocchio::Model m_model
true if the entity has been successfully initialized
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: math/fwd.hh:40
#define SIMPLE_DISTRIBUTE_WRENCH_EXPORT