6 #ifndef __sot_torque_control_JointTorqueController_H__
7 #define __sot_torque_control_JointTorqueController_H__
13 #if defined(joint_torque_controller_EXPORTS)
14 #define SOTJOINTTORQUECONTROLLER_EXPORT __declspec(dllexport)
16 #define SOTJOINTTORQUECONTROLLER_EXPORT __declspec(dllimport)
19 #define SOTJOINTTORQUECONTROLLER_EXPORT
29 #include <tsid/utils/stop-watch.hpp>
31 #include <dynamic-graph/signal-helper.h>
32 #include <sot/core/matrix-geometry.hh>
33 #include <sot/core/robot-utils.hh>
66 DYNAMIC_GRAPH_ENTITY_DECL();
69 DECLARE_SIGNAL_IN(jointsPositions, dynamicgraph::Vector);
70 DECLARE_SIGNAL_IN(jointsVelocities, dynamicgraph::Vector);
71 DECLARE_SIGNAL_IN(jointsAccelerations, dynamicgraph::Vector);
72 DECLARE_SIGNAL_IN(jointsTorques, dynamicgraph::Vector);
73 DECLARE_SIGNAL_IN(jointsTorquesDerivative, dynamicgraph::Vector);
74 DECLARE_SIGNAL_IN(jointsTorquesDesired, dynamicgraph::Vector);
77 DECLARE_SIGNAL_IN(dq_des, dynamicgraph::Vector);
78 DECLARE_SIGNAL_IN(KpTorque, dynamicgraph::Vector);
79 DECLARE_SIGNAL_IN(KiTorque, dynamicgraph::Vector);
80 DECLARE_SIGNAL_IN(KdTorque, dynamicgraph::Vector);
81 DECLARE_SIGNAL_IN(KdVel, dynamicgraph::Vector);
82 DECLARE_SIGNAL_IN(KiVel, dynamicgraph::Vector);
83 DECLARE_SIGNAL_IN(torque_integral_saturation, dynamicgraph::Vector);
89 DECLARE_SIGNAL_IN(coulomb_friction_compensation_percentage, dynamicgraph::Vector);
90 DECLARE_SIGNAL_IN(motorParameterKt_p, dynamicgraph::Vector);
91 DECLARE_SIGNAL_IN(motorParameterKt_n, dynamicgraph::Vector);
92 DECLARE_SIGNAL_IN(motorParameterKf_p, dynamicgraph::Vector);
93 DECLARE_SIGNAL_IN(motorParameterKf_n, dynamicgraph::Vector);
94 DECLARE_SIGNAL_IN(motorParameterKv_p, dynamicgraph::Vector);
95 DECLARE_SIGNAL_IN(motorParameterKv_n, dynamicgraph::Vector);
96 DECLARE_SIGNAL_IN(motorParameterKa_p, dynamicgraph::Vector);
97 DECLARE_SIGNAL_IN(motorParameterKa_n, dynamicgraph::Vector);
98 DECLARE_SIGNAL_IN(polySignDq, dynamicgraph::Vector);
100 DECLARE_SIGNAL_OUT(u, dynamicgraph::Vector);
101 DECLARE_SIGNAL_OUT(smoothSignDq, dynamicgraph::Vector);
102 DECLARE_SIGNAL_OUT(torque_error_integral, dynamicgraph::Vector);
116 void sendMsg(
const std::string& msg, MsgType t = MSG_TYPE_INFO,
const char* =
"",
int = 0) {
117 logger_.stream(t) << (
"[" + name +
"] " + msg) <<
'\n';
121 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
129 void init(
const double& timestep,
const std::string& robotRef);
131 void reset_integral();
134 virtual void display(std::ostream& os)
const;
142 #endif // #ifndef __sot_torque_control_JointTorqueController_H__