#include <boost/test/unit_test.hpp>
#include <tsid/utils/stop-watch.hpp>
#include <tsid/utils/statistics.hpp>
#include <tsid/solvers/solver-HQP-factory.hxx>
#include <tsid/solvers/utils.hpp>
#include <tsid/math/utils.hpp>
#include <dynamic-graph/factory.h>
#include <sot/core/debug.hh>
#include <sot/torque_control/commands-helper.hh>
#include <sot/torque_control/simple-inverse-dyn.hh>
Go to the source code of this file.
◆ DBGFILE
#define DBGFILE "/tmp/debug-sot-torque-control.dat" |
◆ INPUT_SIGNALS
◆ ODEBUG
◆ ODEBUG3
#define ODEBUG3 |
( |
|
x | ) |
std::cout << x << std::endl |
◆ ODEBUG4
◆ ODEBUG4FULL
◆ ODEBUG5
Value: { std::ofstream DebugFile; \
DebugFile.open(
DBGFILE,std::ofstream::app); \
DebugFile << x << std::endl; \
DebugFile.close();}
Definition at line 50 of file simple-inverse-dyn.cpp.
◆ ODEBUG5FULL
Value: { std::ofstream DebugFile; \
DebugFile.open(
DBGFILE,std::ofstream::app); \
DebugFile << __FILE__ << ":" \
<< __FUNCTION__ << "(#" \
<< __LINE__ << "):" << x << std::endl; \
DebugFile.close();}
Definition at line 44 of file simple-inverse-dyn.cpp.
◆ OUTPUT_SIGNALS
#define OUTPUT_SIGNALS m_tau_desSOUT << m_dv_desSOUT << m_v_desSOUT << m_q_desSOUT << m_uSOUT |
◆ PROFILE_HQP_SOLUTION
#define PROFILE_HQP_SOLUTION "SimpleInverseDyn: HQP" |
◆ PROFILE_PREPARE_INV_DYN
#define PROFILE_PREPARE_INV_DYN "SimpleInverseDyn: prepare inv-dyn" |
◆ PROFILE_READ_INPUT_SIGNALS
#define PROFILE_READ_INPUT_SIGNALS "SimpleInverseDyn: read input signals" |
◆ PROFILE_TAU_DES_COMPUTATION
#define PROFILE_TAU_DES_COMPUTATION "SimpleInverseDyn: desired tau" |
◆ REQUIRE_FINITE
#define REQUIRE_FINITE |
( |
|
A | ) |
assert(is_finite(A)) |
◆ RESETDEBUG4
◆ RESETDEBUG5
Value: { std::ofstream DebugFile; \
DebugFile.open(
DBGFILE,std::ofstream::out); \
DebugFile.close();}
Definition at line 41 of file simple-inverse-dyn.cpp.
◆ ZERO_FORCE_THRESHOLD
#define ZERO_FORCE_THRESHOLD 1e-3 |