ddp_pyrene_actuator_solver.cpp File Reference

#include <Eigen/Dense>
#include <dynamic-graph/factory.h>
#include <sot/core/debug.hh>
#include <sot/torque_control/commands-helper.hh>
#include <sot/torque_control/ddp_pyrene_actuator_solver.hh>
#include <math.h>

Include dependency graph for ddp_pyrene_actuator_solver.cpp:

Go to the source code of this file.

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

Macros
#define	ALL_INPUT_SIGNALS   m_pos_desSIN << m_pos_joint_measureSIN << m_dx_joint_measureSIN << m_tau_desSIN
#define	ALL_OUTPUT_SIGNALS   m_tauSOUT
#define	DBGFILE   "/tmp/debug-ddp_pyrene_actuator_solver.dat"
#define	EIGEN_NO_MALLOC
#define	ODEBUG(x)
#define	ODEBUG3(x)   std::cout << x << std::endl
#define	ODEBUG4(x)
#define	ODEBUG4FULL(x)
#define	ODEBUG5(x)
#define	ODEBUG5FULL(x)
#define	RESETDEBUG4()
#define	RESETDEBUG5()

Functions
	DEFINE_SIGNAL_OUT_FUNCTION (tau, dynamicgraph::Vector)
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DdpPyreneActuatorSolver, "DdpPyreneActuatorSolver")

Macro Definition Documentation

ALL_INPUT_SIGNALS

#define ALL_INPUT_SIGNALS   m_pos_desSIN << m_pos_joint_measureSIN << m_dx_joint_measureSIN << m_tau_desSIN

Definition at line 64 of file ddp_pyrene_actuator_solver.cpp.

ALL_OUTPUT_SIGNALS

#define ALL_OUTPUT_SIGNALS   m_tauSOUT

Definition at line 66 of file ddp_pyrene_actuator_solver.cpp.

DBGFILE

#define DBGFILE   "/tmp/debug-ddp_pyrene_actuator_solver.dat"

Definition at line 32 of file ddp_pyrene_actuator_solver.cpp.

EIGEN_NO_MALLOC

#define EIGEN_NO_MALLOC

Definition at line 17 of file ddp_pyrene_actuator_solver.cpp.

ODEBUG

#define ODEBUG

(

x

)

Definition at line 28 of file ddp_pyrene_actuator_solver.cpp.

ODEBUG3

#define ODEBUG3

(

x

)

std::cout << x << std::endl

Definition at line 30 of file ddp_pyrene_actuator_solver.cpp.

ODEBUG4

#define ODEBUG4

(

x

)

Definition at line 50 of file ddp_pyrene_actuator_solver.cpp.

ODEBUG4FULL

#define ODEBUG4FULL

(

x

)

Definition at line 49 of file ddp_pyrene_actuator_solver.cpp.

ODEBUG5

#define ODEBUG5

(

x

)

Value:

    { std::ofstream DebugFile; \
    DebugFile.open(DBGFILE,std::ofstream::app); \
    DebugFile << x << std::endl;    \
    DebugFile.close();}

Definition at line 43 of file ddp_pyrene_actuator_solver.cpp.

ODEBUG5FULL

#define ODEBUG5FULL

(

x

)

Value:

    { std::ofstream DebugFile; \
    DebugFile.open(DBGFILE,std::ofstream::app);   \
    DebugFile << __FILE__ << ":"      \
              << __FUNCTION__ << "(#"     \
              << __LINE__ << "):" << x << std::endl;  \
    DebugFile.close();}

Definition at line 37 of file ddp_pyrene_actuator_solver.cpp.

RESETDEBUG4

#define RESETDEBUG4

(

)

Definition at line 48 of file ddp_pyrene_actuator_solver.cpp.

RESETDEBUG5

#define RESETDEBUG5

(

)

Value:

    { std::ofstream DebugFile;  \
    DebugFile.open(DBGFILE,std::ofstream::out);   \
    DebugFile.close();}

Definition at line 34 of file ddp_pyrene_actuator_solver.cpp.