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10 #ifndef __SOT_SOTGRIPPERCONTROL_H__
11 #define __SOT_SOTGRIPPERCONTROL_H__
18 #include <dynamic-graph/linear-algebra.h>
22 #include <dynamic-graph/all-signals.h>
23 #include <dynamic-graph/entity.h>
34 #if defined(gripper_control_EXPORTS)
35 #define SOTGRIPPERCONTROL_EXPORT __declspec(dllexport)
37 #define SOTGRIPPERCONTROL_EXPORT __declspec(dllimport)
40 #define SOTGRIPPERCONTROL_EXPORT
71 void computeIncrement(
const dg::Vector &torques,
72 const dg::Vector &torqueLimits,
73 const dg::Vector ¤tNormVel);
76 dg::Vector &computeDesiredPosition(
const dg::Vector ¤tPos,
77 const dg::Vector &desiredPos,
78 const dg::Vector &torques,
79 const dg::Vector &torqueLimits,
80 dg::Vector &referencePos);
86 static dg::Vector &selector(
const dg::Vector &fullsize,
const Flags &selec,
96 DYNAMIC_GRAPH_ENTITY_DECL();
106 virtual std::string getDocString()
const;
130 void setOffset(
const double &value);
136 #endif // #ifndef __SOT_SOTGRIPPERCONTROL_H__
dg::SignalPtr< dg::Vector, int > positionFullSizeSIN
Definition: gripper-control.hh:117
dg::SignalPtr< dg::Vector, int > torqueFullSizeSIN
Definition: gripper-control.hh:119
Definition: abstract-sot-external-interface.hh:17
dg::Vector factor
The multiplication.
Definition: gripper-control.hh:63
dg::SignalPtr< dg::Vector, int > positionSIN
Definition: gripper-control.hh:110
dg::SignalTimeDependent< dg::Vector, int > positionReduceSOUT
Definition: gripper-control.hh:118
dg::SignalPtr< dg::Vector, int > torqueLimitFullSizeSIN
Definition: gripper-control.hh:121
dg::SignalPtr< Flags, int > selectionSIN
Definition: gripper-control.hh:114
dg::SignalPtr< dg::Vector, int > positionDesSIN
Definition: gripper-control.hh:111
The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping t...
Definition: gripper-control.hh:58
dg::SignalTimeDependent< dg::Vector, int > torqueReduceSOUT
Definition: gripper-control.hh:120
Definition: gripper-control.hh:94
dg::SignalPtr< dg::Vector, int > torqueLimitSIN
Definition: gripper-control.hh:113
dg::SignalTimeDependent< dg::Vector, int > desiredPositionSOUT
Definition: gripper-control.hh:125
static const double OFFSET_DEFAULT
Definition: gripper-control.hh:61
dg::SignalTimeDependent< dg::Vector, int > torqueLimitReduceSOUT
Definition: gripper-control.hh:122
#define SOTGRIPPERCONTROL_EXPORT
Definition: gripper-control.hh:40
double offset
Definition: gripper-control.hh:60
dg::SignalPtr< dg::Vector, int > torqueSIN
Definition: gripper-control.hh:112
bool calibrationStarted
Definition: gripper-control.hh:99