sot-talos-balance  1.6.0
coupled-admittance-controller.cpp File Reference
#include "sot/talos_balance/coupled-admittance-controller.hh"
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/command-bind.h>
#include <dynamic-graph/all-commands.h>
#include <sot/core/stop-watch.hh>
Include dependency graph for coupled-admittance-controller.cpp:

Go to the source code of this file.

Namespaces

 dynamicgraph
 
 dynamicgraph::sot
 
 dynamicgraph::sot::talos_balance
 

Macros

#define INNER_SIGNALS   m_tauSumSINNER << m_tauDiffSINNER << m_tauDesSumSINNER << m_tauDesDiffSINNER << m_dqRefSumSINNER << m_dqRefDiffSINNER
 
#define INPUT_SIGNALS   m_kSumSIN << m_kDiffSIN << m_tauLSIN << m_tauRSIN << m_tauDesLSIN << m_tauDesRSIN
 
#define OUTPUT_SIGNALS   m_dqRefLSOUT << m_dqRefRSOUT
 
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFDIFF_COMPUTATION   "CoupledAdmittanceController: dqReDiff computation "
 
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFL_COMPUTATION   "CoupledAdmittanceController: dqRefL computation "
 
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFR_COMPUTATION   "CoupledAdmittanceController: dqRefR computation "
 
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFSUM_COMPUTATION   "CoupledAdmittanceController: dqRefSum computation "
 
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESDIFF_COMPUTATION   "CoupledAdmittanceController: tauDesDiff computation "
 
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESSUM_COMPUTATION   "CoupledAdmittanceController: tauDesSum computation "
 
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDIFF_COMPUTATION   "CoupledAdmittanceController: tauDiff computation "
 
#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUSUM_COMPUTATION   "CoupledAdmittanceController: tauSum computation "
 

Functions

 DEFINE_SIGNAL_INNER_FUNCTION (tauSum, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (tauDiff, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (tauDesSum, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (tauDesDiff, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (dqRefSum, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (dqRefDiff, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dqRefL, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dqRefR, dynamicgraph::Vector)
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (CoupledAdmittanceController, "CoupledAdmittanceController")
 

Macro Definition Documentation

◆ INNER_SIGNALS

#define INNER_SIGNALS   m_tauSumSINNER << m_tauDiffSINNER << m_tauDesSumSINNER << m_tauDesDiffSINNER << m_dqRefSumSINNER << m_dqRefDiffSINNER

◆ INPUT_SIGNALS

#define INPUT_SIGNALS   m_kSumSIN << m_kDiffSIN << m_tauLSIN << m_tauRSIN << m_tauDesLSIN << m_tauDesRSIN

◆ OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_dqRefLSOUT << m_dqRefRSOUT

◆ PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFDIFF_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFDIFF_COMPUTATION   "CoupledAdmittanceController: dqReDiff computation "

◆ PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFL_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFL_COMPUTATION   "CoupledAdmittanceController: dqRefL computation "

◆ PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFR_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFR_COMPUTATION   "CoupledAdmittanceController: dqRefR computation "

◆ PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFSUM_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFSUM_COMPUTATION   "CoupledAdmittanceController: dqRefSum computation "

◆ PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESDIFF_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESDIFF_COMPUTATION   "CoupledAdmittanceController: tauDesDiff computation "

◆ PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESSUM_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESSUM_COMPUTATION   "CoupledAdmittanceController: tauDesSum computation "

◆ PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDIFF_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDIFF_COMPUTATION   "CoupledAdmittanceController: tauDiff computation "

◆ PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUSUM_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUSUM_COMPUTATION   "CoupledAdmittanceController: tauSum computation "