admittance-controller.cpp File Reference

#include <tsid/utils/stop-watch.hpp>
#include <dynamic-graph/factory.h>
#include <sot/core/debug.hh>
#include <sot/torque_control/admittance-controller.hh>
#include <sot/torque_control/commands-helper.hh>

Include dependency graph for admittance-controller.cpp:

Go to the source code of this file.

Namespaces
	dynamicgraph
	to read text file
	dynamicgraph::sot
	dynamicgraph::sot::torque_control

Macros
#define	DES_VEL_SIGNALS   m_vDesRightFootSOUT << m_vDesLeftFootSOUT
#define	FORCE_SIGNALS   m_fRightFootSIN << m_fLeftFootSIN << m_fRightFootFilteredSIN << m_fLeftFootFilteredSIN
#define	GAIN_SIGNALS
#define	INPUT_SIGNALS   STATE_SIGNALS << REF_FORCE_SIGNALS << FORCE_SIGNALS << GAIN_SIGNALS << m_controlledJointsSIN << m_dampingSIN
#define	OUTPUT_SIGNALS   m_uSOUT << m_dqDesSOUT << DES_VEL_SIGNALS
#define	PROFILE_DQ_DES_COMPUTATION   "Admittance control computation"
#define	REF_FORCE_SIGNALS   m_fRightFootRefSIN << m_fLeftFootRefSIN
#define	STATE_SIGNALS   m_encodersSIN << m_jointsVelocitiesSIN

Typedefs
typedef AdmittanceController	EntityClassName
typedef Eigen::Matrix< double, 3, 1 >	Vector3
typedef Eigen::Matrix< double, 6, 1 >	Vector6

Functions
	DEFINE_SIGNAL_OUT_FUNCTION (dqDes, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (u, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (vDesLeftFoot, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (vDesRightFoot, dynamicgraph::Vector)
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (AdmittanceController, "AdmittanceController")
VectorXd	svdSolveWithDamping (const JacobiSVD< MatrixXd > &A, const VectorXd &b, double damping)

Macro Definition Documentation

DES_VEL_SIGNALS

#define DES_VEL_SIGNALS   m_vDesRightFootSOUT << m_vDesLeftFootSOUT

Definition at line 39 of file admittance-controller.cpp.

FORCE_SIGNALS

#define FORCE_SIGNALS   m_fRightFootSIN << m_fLeftFootSIN << m_fRightFootFilteredSIN << m_fLeftFootFilteredSIN

Definition at line 29 of file admittance-controller.cpp.

GAIN_SIGNALS

#define GAIN_SIGNALS

Value:

  m_kp_forceSIN << m_ki_forceSIN << m_kp_velSIN << m_ki_velSIN << m_force_integral_saturationSIN \
                << m_force_integral_deadzoneSIN

Definition at line 31 of file admittance-controller.cpp.

INPUT_SIGNALS

#define INPUT_SIGNALS   STATE_SIGNALS << REF_FORCE_SIGNALS << FORCE_SIGNALS << GAIN_SIGNALS << m_controlledJointsSIN << m_dampingSIN

Definition at line 36 of file admittance-controller.cpp.

OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_uSOUT << m_dqDesSOUT << DES_VEL_SIGNALS

Definition at line 40 of file admittance-controller.cpp.

PROFILE_DQ_DES_COMPUTATION

#define PROFILE_DQ_DES_COMPUTATION   "Admittance control computation"

Definition at line 25 of file admittance-controller.cpp.

REF_FORCE_SIGNALS

#define REF_FORCE_SIGNALS   m_fRightFootRefSIN << m_fLeftFootRefSIN

Definition at line 27 of file admittance-controller.cpp.

STATE_SIGNALS

#define STATE_SIGNALS   m_encodersSIN << m_jointsVelocitiesSIN

Definition at line 34 of file admittance-controller.cpp.