Classes | |
class | AbstractTrajectoryGenerator |
class | AdmittanceController |
class | BaseEstimator |
class | ConstantAccelerationTrajectoryGenerator |
class | ControlManager |
class | CtrlMode |
class | CurrentController |
class | DdpActuatorSolver |
class | DdpPyreneActuatorSolver |
class | DeviceTorqueCtrl |
class | FreeFlyerLocator |
class | ImuOffsetCompensation |
class | InverseDynamicsBalanceController |
class | JointTorqueController |
class | JointTrajectoryGenerator |
class | LinearChirpTrajectoryGenerator |
class | MinimumJerkTrajectoryGenerator |
class | MotorModel |
class | NoTrajectoryGenerator |
class | NumericalDifference |
class | PositionController |
class | SE3TrajectoryGenerator |
class | SimpleInverseDyn |
class | SinusoidTrajectoryGenerator |
class | TextFileTrajectoryGenerator |
class | TorqueOffsetEstimator |
class | TracePlayer |
Entity to play data saved using a Tracer. More... | |
class | TriangleTrajectoryGenerator |
Typedefs | |
typedef int | dummy |
typedef AdmittanceController | EntityClassName |
typedef SolverHQuadProgRT< 48, 30, 17 > | SolverHQuadProgRT48x30x17 |
typedef SolverHQuadProgRT< 60, 36, 34 > | SolverHQuadProgRT60x36x34 |
typedef Eigen::Matrix< double, 2, 1 > | Vector2 |
typedef Eigen::Matrix< double, 3, 1 > | Vector3 |
typedef Eigen::Matrix< double, 6, 1 > | Vector6 |
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > | VectorN |
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > | VectorN6 |
Enumerations | |
enum | ControlOutput { CONTROL_OUTPUT_VELOCITY = 0, CONTROL_OUTPUT_TORQUE = 1, CONTROL_OUTPUT_SIZE = 2 } |
Functions | |
DEFINE_SIGNAL_INNER_FUNCTION (active_joints_checked, dynamicgraph::Vector) | |
DEFINE_SIGNAL_INNER_FUNCTION (collectSensorData, dummy) | |
DEFINE_SIGNAL_INNER_FUNCTION (kinematics_computations, dynamicgraph::Vector) | |
DEFINE_SIGNAL_INNER_FUNCTION (x_dx_ddx, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (a_ac, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (accelerometer_out, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (base6dFromFoot_encoders, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (base_orientation, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (com, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (com_acc, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (com_acc_des, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (com_vel, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (ddq, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (ddx, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (dead_zone_compensation, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (dq, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (dqDes, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (dv_des, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (dx, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (f_des_left_foot, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (f_des_right_foot, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (fLeftFoot, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (fLeftHand, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (freeflyer_aa, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (fRightFoot, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (fRightHand, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (gyrometer_out, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (i_errors, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (i_errors_ll_wo_bemf, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (i_low_level, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (i_real, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (i_sensor_offsets_real_out, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (jointTorquesEstimated, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (left_foot_acc, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (left_foot_acc_des, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (left_foot_pos, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (left_foot_vel, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (left_hand_acc, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (left_hand_pos, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (left_hand_vel, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (lf_xyzquat, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (M, dynamicgraph::Matrix) | |
DEFINE_SIGNAL_OUT_FUNCTION (pwmDes, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (q, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (q_des, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (q_imu, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (q_lf, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (q_rf, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (qError, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (rf_xyzquat, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (right_foot_acc, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (right_foot_acc_des, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (right_foot_pos, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (right_foot_vel, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (right_hand_acc, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (right_hand_pos, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (right_hand_vel, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (smoothSignDq, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (tau, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (tau_des, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (torque_error_integral, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (trigger, int) | |
DEFINE_SIGNAL_OUT_FUNCTION (u, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (u_safe, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (v, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (v_ac, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (v_des, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (v_flex, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (v_gyr, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (v_imu, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (v_kin, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (vDesLeftFoot, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (vDesRightFoot, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (w_lf, double) | |
DEFINE_SIGNAL_OUT_FUNCTION (w_lf_filtered, double) | |
DEFINE_SIGNAL_OUT_FUNCTION (w_rf, double) | |
DEFINE_SIGNAL_OUT_FUNCTION (w_rf_filtered, double) | |
DEFINE_SIGNAL_OUT_FUNCTION (x, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (x_filtered, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (zmp, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (zmp_des, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (zmp_des_left_foot, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (zmp_des_left_foot_local, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (zmp_des_right_foot, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (zmp_des_right_foot_local, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (zmp_left_foot, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (zmp_ref, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (zmp_right_foot, dynamicgraph::Vector) | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (AdmittanceController, "AdmittanceController") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (BaseEstimator, "BaseEstimator") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ControlManager, "ControlManager") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (CurrentController, "CurrentController") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DdpActuatorSolver, "DdpActuatorSolver") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DdpPyreneActuatorSolver, "DdpPyreneActuatorSolver") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FreeFlyerLocator, "FreeFlyerLocator") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ImuOffsetCompensation, "ImuOffsetCompensation") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (InverseDynamicsBalanceController, "InverseDynamicsBalanceController") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (JointTorqueController, "JointTorqueController") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (JointTrajectoryGenerator, "JointTrajectoryGenerator") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (NumericalDifference, "NumericalDifference") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (PositionController, "PositionController") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SE3TrajectoryGenerator, "SE3TrajectoryGenerator") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleInverseDyn, "SimpleInverseDyn") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (TorqueOffsetEstimator, "TorqueOffsetEstimator") | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (TracePlayer, "TracePlayer") | |
void | matrixToRpy (const Eigen::Matrix3d &M, Eigen::Vector3d &rpy) |
std::ostream & | operator<< (std::ostream &os, const CtrlMode &s) |
void | pointRotationByQuaternion (const Eigen::Vector3d &point, const Eigen::Vector4d &quat, Eigen::Vector3d &rotatedPoint) |
void | quanternionMult (const Eigen::Vector4d &q1, const Eigen::Vector4d &q2, Eigen::Vector4d &q12) |
Eigen::MatrixXd | readMatrixFromFile (const char *filename) |
void | rpyToMatrix (const Eigen::Vector3d &rpy, Eigen::Matrix3d &R) |
void | rpyToMatrix (double r, double p, double y, Eigen::Matrix3d &R) |
void | se3Interp (const pinocchio::SE3 &s1, const pinocchio::SE3 &s2, const double alpha, pinocchio::SE3 &s12) |
VectorXd | svdSolveWithDamping (const JacobiSVD< MatrixXd > &A, const VectorXd &b, double damping) |
Variables | |
const std::string | ControlOutput_s [] = {"velocity", "torque"} |
typedef int dummy |
Definition at line 30 of file torque-offset-estimator.cpp.
typedef TracePlayer EntityClassName |
Define EntityClassName here rather than in the header file so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION.
Definition at line 44 of file admittance-controller.cpp.
typedef SolverHQuadProgRT<48, 30, 17> SolverHQuadProgRT48x30x17 |
Definition at line 75 of file inverse-dynamics-balance-controller.cpp.
typedef SolverHQuadProgRT<60, 36, 34> SolverHQuadProgRT60x36x34 |
Definition at line 74 of file inverse-dynamics-balance-controller.cpp.
typedef Eigen::Matrix< double, 2, 1 > Vector2 |
Definition at line 192 of file inverse-dynamics-balance-controller.cpp.
typedef Eigen::Matrix<double, 3, 1> Vector3 |
Definition at line 46 of file admittance-controller.cpp.
typedef dynamicgraph::sot::Vector6d Vector6 |
Definition at line 47 of file admittance-controller.cpp.
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > VectorN |
Definition at line 193 of file inverse-dynamics-balance-controller.cpp.
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 > VectorN6 |
Definition at line 194 of file inverse-dynamics-balance-controller.cpp.
enum ControlOutput |
Enumerator | |
---|---|
CONTROL_OUTPUT_VELOCITY | |
CONTROL_OUTPUT_TORQUE | |
CONTROL_OUTPUT_SIZE |
Definition at line 65 of file simple-inverse-dyn.hh.
DEFINE_SIGNAL_INNER_FUNCTION | ( | active_joints_checked | , |
dynamicgraph::Vector | |||
) |
Copy active_joints only if a valid transition occurs. (From all OFF) or (To all OFF)
Definition at line 608 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION | ( | collectSensorData | , |
dummy | |||
) |
Definition at line 127 of file torque-offset-estimator.cpp.
DEFINE_SIGNAL_INNER_FUNCTION | ( | kinematics_computations | , |
dynamicgraph::Vector | |||
) |
Definition at line 461 of file base-estimator.cpp.
References PROFILE_BASE_KINEMATICS_COMPUTATION.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION | ( | x_dx_ddx | , |
dynamicgraph::Vector | |||
) |
Signal Filtering and Differentiation.
Definition at line 86 of file numerical-difference.cpp.
References COPY_VECTOR_TO_ARRAY.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | a_ac | , |
dynamicgraph::Vector | |||
) |
Definition at line 1028 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | accelerometer_out | , |
dynamicgraph::Vector | |||
) |
Definition at line 169 of file imu_offset_compensation.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | base6dFromFoot_encoders | , |
dynamicgraph::Vector | |||
) |
Definition at line 131 of file free-flyer-locator.cpp.
References PROFILE_FREE_FLYER_COMPUTATION.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | base_orientation | , |
dynamicgraph::Vector | |||
) |
Definition at line 1187 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | com | , |
dynamicgraph::Vector | |||
) |
Definition at line 1161 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | com_acc | , |
dynamicgraph::Vector | |||
) |
Definition at line 961 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | com_acc_des | , |
dynamicgraph::Vector | |||
) |
Definition at line 950 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | com_vel | , |
dynamicgraph::Vector | |||
) |
Definition at line 1174 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | ddq | , |
dynamicgraph::Vector | |||
) |
Definition at line 268 of file joint-trajectory-generator.cpp.
DEFINE_SIGNAL_OUT_FUNCTION | ( | ddx | , |
dynamicgraph::Vector | |||
) |
Definition at line 130 of file numerical-difference.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | dead_zone_compensation | , |
dynamicgraph::Vector | |||
) |
Definition at line 283 of file current-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | dq | , |
dynamicgraph::Vector | |||
) |
Definition at line 253 of file joint-trajectory-generator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | dqDes | , |
dynamicgraph::Vector | |||
) |
*** Compute all Jacobians ***
Compute admittance control law
Definition at line 187 of file admittance-controller.cpp.
References PROFILE_DQ_DES_COMPUTATION.
DEFINE_SIGNAL_OUT_FUNCTION | ( | dv_des | , |
dynamicgraph::Vector | |||
) |
Definition at line 909 of file inverse-dynamics-balance-controller.cpp.
DEFINE_SIGNAL_OUT_FUNCTION | ( | dx | , |
dynamicgraph::Vector | |||
) |
Definition at line 121 of file numerical-difference.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | f_des_left_foot | , |
dynamicgraph::Vector | |||
) |
Definition at line 935 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | f_des_right_foot | , |
dynamicgraph::Vector | |||
) |
Definition at line 920 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | fLeftFoot | , |
dynamicgraph::Vector | |||
) |
Definition at line 291 of file joint-trajectory-generator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | fLeftHand | , |
dynamicgraph::Vector | |||
) |
Definition at line 303 of file joint-trajectory-generator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | freeflyer_aa | , |
dynamicgraph::Vector | |||
) |
Definition at line 167 of file free-flyer-locator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | fRightFoot | , |
dynamicgraph::Vector | |||
) |
Definition at line 284 of file joint-trajectory-generator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | fRightHand | , |
dynamicgraph::Vector | |||
) |
Definition at line 297 of file joint-trajectory-generator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | gyrometer_out | , |
dynamicgraph::Vector | |||
) |
Definition at line 183 of file imu_offset_compensation.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | i_errors | , |
dynamicgraph::Vector | |||
) |
Definition at line 294 of file current-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | i_errors_ll_wo_bemf | , |
dynamicgraph::Vector | |||
) |
Definition at line 305 of file current-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | i_low_level | , |
dynamicgraph::Vector | |||
) |
Definition at line 235 of file current-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | i_real | , |
dynamicgraph::Vector | |||
) |
Definition at line 217 of file current-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | i_sensor_offsets_real_out | , |
dynamicgraph::Vector | |||
) |
Definition at line 250 of file current-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | jointTorquesEstimated | , |
dynamicgraph::Vector | |||
) |
Definition at line 193 of file torque-offset-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | left_foot_acc | , |
dynamicgraph::Vector | |||
) |
Definition at line 1304 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | left_foot_acc_des | , |
dynamicgraph::Vector | |||
) |
Definition at line 1350 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | left_foot_pos | , |
dynamicgraph::Vector | |||
) |
Definition at line 1200 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | left_foot_vel | , |
dynamicgraph::Vector | |||
) |
Definition at line 1256 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | left_hand_acc | , |
dynamicgraph::Vector | |||
) |
Definition at line 1317 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | left_hand_pos | , |
dynamicgraph::Vector | |||
) |
Definition at line 1215 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | left_hand_vel | , |
dynamicgraph::Vector | |||
) |
Definition at line 1269 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | lf_xyzquat | , |
dynamicgraph::Vector | |||
) |
Definition at line 663 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | M | , |
dynamicgraph::Matrix | |||
) |
Definition at line 898 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | pwmDes | , |
dynamicgraph::Vector | |||
) |
Definition at line 103 of file position-controller.cpp.
References PROFILE_PWM_DES_COMPUTATION.
DEFINE_SIGNAL_OUT_FUNCTION | ( | q | , |
dynamicgraph::Vector | |||
) |
apply feedback correction
convert from xyzquat to se3
find translation to apply to both feet to minimise distances to reference positions
two vectors define by left to right feet translation
angle betwin this two vectors projected in horizontal plane is the yaw drift
apply correction to cancel this drift
Definition at line 492 of file base-estimator.cpp.
References matrixToRpy(), PROFILE_BASE_POSITION_ESTIMATION, rpyToMatrix(), and se3Interp().
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | q_des | , |
dynamicgraph::Vector | |||
) |
Definition at line 568 of file simple-inverse-dyn.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | q_imu | , |
dynamicgraph::Vector | |||
) |
Definition at line 713 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | q_lf | , |
dynamicgraph::Vector | |||
) |
Definition at line 683 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | q_rf | , |
dynamicgraph::Vector | |||
) |
Definition at line 698 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | qError | , |
dynamicgraph::Vector | |||
) |
Definition at line 141 of file position-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | rf_xyzquat | , |
dynamicgraph::Vector | |||
) |
Definition at line 673 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | right_foot_acc | , |
dynamicgraph::Vector | |||
) |
Definition at line 1327 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | right_foot_acc_des | , |
dynamicgraph::Vector | |||
) |
Definition at line 1363 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | right_foot_pos | , |
dynamicgraph::Vector | |||
) |
Definition at line 1228 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | right_foot_vel | , |
dynamicgraph::Vector | |||
) |
Definition at line 1282 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | right_hand_acc | , |
dynamicgraph::Vector | |||
) |
Definition at line 1340 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | right_hand_pos | , |
dynamicgraph::Vector | |||
) |
Definition at line 1243 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | right_hand_vel | , |
dynamicgraph::Vector | |||
) |
Definition at line 1293 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | smoothSignDq | , |
dynamicgraph::Vector | |||
) |
Definition at line 219 of file joint-torque-controller.cpp.
DEFINE_SIGNAL_OUT_FUNCTION | ( | tau | , |
dynamicgraph::Vector | |||
) |
-— Get the information --— Desired position
Measured position
Measured speed
Measured temperature
Measured torque
Desired torque
— Initialize solver —
— Solve the DDP —
— Get the command —
-— Get the information --— Desired position
Measured joint position
Measured joint speed
Desired torque
— Solve the DDP —
— Get the command —
-— Get the information --— Desired position
Measured joint position
Measured joint speed
Desired torque
— Solve the DDP —
— Get the command —
Definition at line 92 of file ddp-actuator-solver.cpp.
References ODEBUG5.
DEFINE_SIGNAL_OUT_FUNCTION | ( | tau_des | , |
dynamicgraph::Vector | |||
) |
Definition at line 644 of file inverse-dynamics-balance-controller.cpp.
References PROFILE_HQP_SOLUTION, PROFILE_PREPARE_INV_DYN, PROFILE_READ_INPUT_SIGNALS, PROFILE_TAU_DES_COMPUTATION, and ZERO_FORCE_THRESHOLD.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | torque_error_integral | , |
dynamicgraph::Vector | |||
) |
Definition at line 200 of file joint-torque-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | trigger | , |
int | |||
) |
Definition at line 54 of file trace-player.cpp.
DEFINE_SIGNAL_OUT_FUNCTION | ( | u | , |
dynamicgraph::Vector | |||
) |
Definition at line 160 of file admittance-controller.cpp.
DEFINE_SIGNAL_OUT_FUNCTION | ( | u_safe | , |
dynamicgraph::Vector | |||
) |
Definition at line 243 of file control-manager.cpp.
DEFINE_SIGNAL_OUT_FUNCTION | ( | v | , |
dynamicgraph::Vector | |||
) |
TODO Read this transform from setable parameter /// TODO chesk the sign of the translation
TODO
Definition at line 811 of file base-estimator.cpp.
References PROFILE_BASE_VELOCITY_ESTIMATION.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_ac | , |
dynamicgraph::Vector | |||
) |
Definition at line 1018 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_des | , |
dynamicgraph::Vector | |||
) |
Definition at line 551 of file simple-inverse-dyn.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_flex | , |
dynamicgraph::Vector | |||
) |
Definition at line 988 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_gyr | , |
dynamicgraph::Vector | |||
) |
Definition at line 1008 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_imu | , |
dynamicgraph::Vector | |||
) |
Definition at line 998 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | v_kin | , |
dynamicgraph::Vector | |||
) |
Definition at line 978 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | vDesLeftFoot | , |
dynamicgraph::Vector | |||
) |
Definition at line 277 of file admittance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | vDesRightFoot | , |
dynamicgraph::Vector | |||
) |
Definition at line 237 of file admittance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | w_lf | , |
double | |||
) |
Definition at line 731 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | w_lf_filtered | , |
double | |||
) |
Definition at line 800 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | w_rf | , |
double | |||
) |
Definition at line 760 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | w_rf_filtered | , |
double | |||
) |
Definition at line 789 of file base-estimator.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | x | , |
dynamicgraph::Vector | |||
) |
Definition at line 136 of file se3-trajectory-generator.cpp.
References PROFILE_SE3_POSITION_DESIRED_COMPUTATION.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | x_filtered | , |
dynamicgraph::Vector | |||
) |
************************************************************************* /// The following signals depend only on other inner signals, so they just need to copy the interested part of the inner signal they depend on. ************************************************************************* ///
Definition at line 112 of file numerical-difference.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmp | , |
dynamicgraph::Vector | |||
) |
Definition at line 1143 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmp_des | , |
dynamicgraph::Vector | |||
) |
Definition at line 1051 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmp_des_left_foot | , |
dynamicgraph::Vector | |||
) |
Definition at line 1030 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmp_des_left_foot_local | , |
dynamicgraph::Vector | |||
) |
Definition at line 991 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmp_des_right_foot | , |
dynamicgraph::Vector | |||
) |
Definition at line 1009 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmp_des_right_foot_local | , |
dynamicgraph::Vector | |||
) |
Definition at line 972 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmp_left_foot | , |
dynamicgraph::Vector | |||
) |
Definition at line 1122 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmp_ref | , |
dynamicgraph::Vector | |||
) |
Definition at line 1065 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION | ( | zmp_right_foot | , |
dynamicgraph::Vector | |||
) |
Definition at line 1100 of file inverse-dynamics-balance-controller.cpp.
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | AdmittanceController | , |
"AdmittanceController" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | BaseEstimator | , |
"BaseEstimator" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | ControlManager | , |
"ControlManager" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | CurrentController | , |
"CurrentController" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DdpActuatorSolver | , |
"DdpActuatorSolver" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DdpPyreneActuatorSolver | , |
"DdpPyreneActuatorSolver" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | FreeFlyerLocator | , |
"FreeFlyerLocator" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | ImuOffsetCompensation | , |
"ImuOffsetCompensation" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | InverseDynamicsBalanceController | , |
"InverseDynamicsBalanceController" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | JointTorqueController | , |
"JointTorqueController" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | JointTrajectoryGenerator | , |
"JointTrajectoryGenerator" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | NumericalDifference | , |
"NumericalDifference" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | PositionController | , |
"PositionController" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SE3TrajectoryGenerator | , |
"SE3TrajectoryGenerator" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SimpleInverseDyn | , |
"SimpleInverseDyn" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | TorqueOffsetEstimator | , |
"TorqueOffsetEstimator" | |||
) |
dynamicgraph::sot::torque_control::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | TracePlayer | , |
"TracePlayer" | |||
) |
void matrixToRpy | ( | const Eigen::Matrix3d & | M, |
Eigen::Vector3d & | rpy | ||
) |
Convert from Transformation Matrix to Roll, Pitch, Yaw
Definition at line 41 of file base-estimator.cpp.
Referenced by DEFINE_SIGNAL_OUT_FUNCTION().
std::ostream& dynamicgraph::sot::torque_control::operator<< | ( | std::ostream & | os, |
const CtrlMode & | s | ||
) |
Definition at line 59 of file control-manager.hh.
References CtrlMode::id, and CtrlMode::name.
void pointRotationByQuaternion | ( | const Eigen::Vector3d & | point, |
const Eigen::Vector4d & | quat, | ||
Eigen::Vector3d & | rotatedPoint | ||
) |
Rotate a point or a vector by a quaternion stored in (w,x,y,z) format
Definition at line 60 of file base-estimator.cpp.
References quanternionMult().
void quanternionMult | ( | const Eigen::Vector4d & | q1, |
const Eigen::Vector4d & | q2, | ||
Eigen::Vector4d & | q12 | ||
) |
Multiply to quaternions stored in (w,x,y,z) format
Definition at line 53 of file base-estimator.cpp.
Referenced by pointRotationByQuaternion().
Eigen::MatrixXd dynamicgraph::sot::torque_control::readMatrixFromFile | ( | const char * | filename | ) |
Definition at line 41 of file trajectory-generators.hh.
References MAXBUFSIZE.
Referenced by TextFileTrajectoryGenerator::loadTextFile().
void rpyToMatrix | ( | const Eigen::Vector3d & | rpy, |
Eigen::Matrix3d & | R | ||
) |
Convert from Roll, Pitch, Yaw to transformation Matrix.
Definition at line 39 of file base-estimator.cpp.
References rpyToMatrix().
void rpyToMatrix | ( | double | r, |
double | p, | ||
double | y, | ||
Eigen::Matrix3d & | R | ||
) |
Convert from Roll, Pitch, Yaw to transformation Matrix.
Definition at line 31 of file base-estimator.cpp.
Referenced by DEFINE_SIGNAL_OUT_FUNCTION(), BaseEstimator::kinematics_estimation(), and rpyToMatrix().
void se3Interp | ( | const pinocchio::SE3 & | s1, |
const pinocchio::SE3 & | s2, | ||
const double | alpha, | ||
pinocchio::SE3 & | s12 | ||
) |
Compute s12 as an intermediate transform between s1 and s2 SE3 transforms
Definition at line 24 of file base-estimator.cpp.
Referenced by DEFINE_SIGNAL_OUT_FUNCTION().
VectorXd dynamicgraph::sot::torque_control::svdSolveWithDamping | ( | const JacobiSVD< MatrixXd > & | A, |
const VectorXd & | b, | ||
double | damping | ||
) |
Definition at line 375 of file admittance-controller.cpp.
Referenced by DeviceTorqueCtrl::computeForwardDynamics().
const std::string ControlOutput_s[] = {"velocity", "torque"} |
Definition at line 67 of file simple-inverse-dyn.hh.
Referenced by SimpleInverseDyn::setControlOutputType().