sot-talos-balance  1.6.0
foot-force-difference-controller.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_foot_force_difference_controller_H__
18 #define __sot_talos_balance_foot_force_difference_controller_H__
19 
20 /* --------------------------------------------------------------------- */
21 /* --- API ------------------------------------------------------------- */
22 /* --------------------------------------------------------------------- */
23 
24 #if defined (WIN32)
25 # if defined (foot_force_difference_controller_EXPORTS)
26 # define FOOT_FORCE_DIFFERENCE_CONTROLLER_EXPORT __declspec(dllexport)
27 # else
28 # define FOOT_FORCE_DIFFERENCE_CONTROLLER_EXPORT __declspec(dllimport)
29 # endif
30 #else
31 # define FOOT_FORCE_DIFFERENCE_CONTROLLER_EXPORT
32 #endif
33 
34 
35 /* --------------------------------------------------------------------- */
36 /* --- INCLUDE --------------------------------------------------------- */
37 /* --------------------------------------------------------------------- */
38 
39 #include <dynamic-graph/signal-helper.h>
40 #include <map>
41 #include "boost/assign.hpp"
42 
43 #include <sot/core/matrix-geometry.hh>
44 #include <dynamic-graph/linear-algebra.h>
45 
46 namespace dynamicgraph {
47  namespace sot {
48  namespace talos_balance {
49 
50  /* --------------------------------------------------------------------- */
51  /* --- CLASS ----------------------------------------------------------- */
52  /* --------------------------------------------------------------------- */
53 
55  : public ::dynamicgraph::Entity
56  {
57  DYNAMIC_GRAPH_ENTITY_DECL();
58 
59  public:
60  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
61 
62  /* --- CONSTRUCTOR ---- */
63  FootForceDifferenceController( const std::string & name );
64 
65  void init();
66 
67  /* --- SIGNALS --- */
68  DECLARE_SIGNAL_IN(phase, int);
69 
70  DECLARE_SIGNAL_IN(gainSwing, double);
71  DECLARE_SIGNAL_IN(gainStance, double);
72  DECLARE_SIGNAL_IN(gainDouble, double);
73 
74  DECLARE_SIGNAL_IN(dfzAdmittance, double);
75  DECLARE_SIGNAL_IN(vdcFrequency, double);
76  DECLARE_SIGNAL_IN(vdcDamping, double);
77 
78  DECLARE_SIGNAL_IN(wrenchRightDes, dynamicgraph::Vector);
79  DECLARE_SIGNAL_IN(wrenchLeftDes, dynamicgraph::Vector);
80  DECLARE_SIGNAL_IN(wrenchRight, dynamicgraph::Vector);
81  DECLARE_SIGNAL_IN(wrenchLeft, dynamicgraph::Vector);
82 
83  DECLARE_SIGNAL_IN(posRightDes, MatrixHomogeneous);
84  DECLARE_SIGNAL_IN(posLeftDes, MatrixHomogeneous);
85  DECLARE_SIGNAL_IN(posRight, MatrixHomogeneous);
86  DECLARE_SIGNAL_IN(posLeft, MatrixHomogeneous);
87 
88  DECLARE_SIGNAL_INNER(dz_ctrl, double);
89  DECLARE_SIGNAL_INNER(dz_pos, double);
90 
91  DECLARE_SIGNAL_OUT(vRight, dynamicgraph::Vector);
92  DECLARE_SIGNAL_OUT(vLeft, dynamicgraph::Vector);
93 
94  DECLARE_SIGNAL_OUT(gainRight, double);
95  DECLARE_SIGNAL_OUT(gainLeft, double);
96 
97  /* --- COMMANDS --- */
98  /* --- ENTITY INHERITANCE --- */
99  virtual void display( std::ostream& os ) const;
100 
101  protected:
103 
104  }; // class FootForceDifferenceController
105 
106  } // namespace talos_balance
107  } // namespace sot
108 } // namespace dynamicgraph
109 
110 
111 
112 #endif // #ifndef __sot_talos_balance_foot_force_difference_controller_H__
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: math/fwd.hh:40
#define FOOT_FORCE_DIFFERENCE_CONTROLLER_EXPORT