#include "sot/talos_balance/distribute-wrench.hh"
#include <iostream>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/all-commands.h>
#include <sot/core/stop-watch.hh>
#include <pinocchio/parsers/urdf.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
#include <pinocchio/algorithm/frames.hpp>
Go to the source code of this file.
Namespaces | |
dynamicgraph | |
dynamicgraph::sot | |
dynamicgraph::sot::talos_balance | |
Macros | |
#define | INNER_SIGNALS m_kinematics_computations << m_qp_computations |
#define | INPUT_SIGNALS m_wrenchDesSIN << m_qSIN << m_rhoSIN << m_phaseSIN << m_frictionCoefficientSIN << WEIGHT_SIGNALS |
#define | OUTPUT_SIGNALS m_wrenchLeftSOUT << m_ankleWrenchLeftSOUT << m_surfaceWrenchLeftSOUT << m_copLeftSOUT << m_wrenchRightSOUT << m_ankleWrenchRightSOUT << m_surfaceWrenchRightSOUT << m_copRightSOUT << m_wrenchRefSOUT << m_zmpRefSOUT << m_emergencyStopSOUT |
#define | PROFILE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS "DistributeWrench: kinematics computations " |
#define | PROFILE_DISTRIBUTE_WRENCH_QP_COMPUTATIONS "DistributeWrench: QP problem computations " |
#define | WEIGHT_SIGNALS m_wSumSIN << m_wNormSIN << m_wRatioSIN << m_wAnkleSIN |
Functions | |
DEFINE_SIGNAL_INNER_FUNCTION (kinematics_computations, int) | |
DEFINE_SIGNAL_INNER_FUNCTION (qp_computations, int) | |
DEFINE_SIGNAL_OUT_FUNCTION (zmpRef, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (wrenchRef, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (wrenchLeft, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (wrenchRight, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (ankleWrenchLeft, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (ankleWrenchRight, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (surfaceWrenchLeft, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (surfaceWrenchRight, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (copLeft, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (copRight, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (emergencyStop, bool) | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DistributeWrench, "DistributeWrench") | |
#define INNER_SIGNALS m_kinematics_computations << m_qp_computations |
Definition at line 49 of file distribute-wrench.cpp.
#define INPUT_SIGNALS m_wrenchDesSIN << m_qSIN << m_rhoSIN << m_phaseSIN << m_frictionCoefficientSIN << WEIGHT_SIGNALS |
Definition at line 47 of file distribute-wrench.cpp.
Referenced by DistributeWrench::DistributeWrench().
#define OUTPUT_SIGNALS m_wrenchLeftSOUT << m_ankleWrenchLeftSOUT << m_surfaceWrenchLeftSOUT << m_copLeftSOUT << m_wrenchRightSOUT << m_ankleWrenchRightSOUT << m_surfaceWrenchRightSOUT << m_copRightSOUT << m_wrenchRefSOUT << m_zmpRefSOUT << m_emergencyStopSOUT |
Definition at line 51 of file distribute-wrench.cpp.
Referenced by DistributeWrench::DistributeWrench().
#define PROFILE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS "DistributeWrench: kinematics computations " |
Definition at line 42 of file distribute-wrench.cpp.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION().
#define PROFILE_DISTRIBUTE_WRENCH_QP_COMPUTATIONS "DistributeWrench: QP problem computations " |
Definition at line 43 of file distribute-wrench.cpp.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION().
#define WEIGHT_SIGNALS m_wSumSIN << m_wNormSIN << m_wRatioSIN << m_wAnkleSIN |
Definition at line 45 of file distribute-wrench.cpp.