#include <sot/talos_balance/distribute-wrench.hh>

Inheritance diagram for DistributeWrench:

Collaboration diagram for DistributeWrench:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DistributeWrench (const std::string &name)

Eigen::Vector3d	computeCoP (const dynamicgraph::Vector &wrench, const pinocchio::SE3 &pose) const

	DECLARE_SIGNAL_IN (frictionCoefficient, double)

	DECLARE_SIGNAL_IN (phase, int)

	DECLARE_SIGNAL_IN (q, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (rho, double)

	DECLARE_SIGNAL_IN (wAnkle, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (wNorm, double)

	DECLARE_SIGNAL_IN (wRatio, double)

	DECLARE_SIGNAL_IN (wrenchDes, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (wSum, double)

	DECLARE_SIGNAL_INNER (kinematics_computations, int)

	DECLARE_SIGNAL_INNER (qp_computations, int)

	DECLARE_SIGNAL_OUT (ankleWrenchLeft, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (ankleWrenchRight, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (copLeft, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (copRight, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (emergencyStop, bool)

	DECLARE_SIGNAL_OUT (surfaceWrenchLeft, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (surfaceWrenchRight, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (wrenchLeft, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (wrenchRef, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (wrenchRight, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (zmpRef, dynamicgraph::Vector)

virtual void	display (std::ostream &os) const

void	init (const std::string &robotName)

void	set_left_foot_sizes (const dynamicgraph::Vector &s)

void	set_right_foot_sizes (const dynamicgraph::Vector &s)

Public Attributes
double	m_eps

Protected Member Functions
void	computeWrenchFaceMatrix (const double mu)

void	distributeWrench (const Eigen::VectorXd &wrenchDes, const double rho, const double mu)

void	saturateWrench (const Eigen::VectorXd &wrenchDes, const int phase, const double mu)

Protected Attributes
Eigen::MatrixXd	m_Aeq1

Eigen::MatrixXd	m_Aeq2

Eigen::MatrixXd	m_Aineq1

Eigen::MatrixXd	m_Aineq2

pinocchio::SE3	m_ankle_M_sole

Eigen::VectorXd	m_Beq1

Eigen::VectorXd	m_Beq2

Eigen::VectorXd	m_Bineq1

Eigen::VectorXd	m_Bineq2

Eigen::VectorXd	m_C1

Eigen::VectorXd	m_C2

pinocchio::SE3	m_contactLeft

pinocchio::SE3	m_contactRight

pinocchio::Data	m_data
	Pinocchio robot model. More...

bool	m_emergency_stop_triggered

bool	m_initSucceeded

pinocchio::FrameIndex	m_left_foot_id
	ankle to sole transformation More...

Eigen::Vector4d	m_left_foot_sizes

pinocchio::Model	m_model
	true if the entity has been successfully initialized More...

Eigen::MatrixXd	m_Q1

Eigen::MatrixXd	m_Q2

eiquadprog::solvers::EiquadprogFast	m_qp1

eiquadprog::solvers::EiquadprogFast	m_qp2

Eigen::VectorXd	m_result1

Eigen::VectorXd	m_result2

pinocchio::FrameIndex	m_right_foot_id

Eigen::Vector4d	m_right_foot_sizes

RobotUtilShrPtr	m_robot_util
	Pinocchio robot data. More...

Eigen::VectorXd	m_wAnkle

double	m_wNorm

double	m_wRatio

Eigen::Matrix< double, 16, 6 >	m_wrenchFaceMatrix

Eigen::Matrix< double, 6, 1 >	m_wrenchLeft

Eigen::Matrix< double, 6, 1 >	m_wrenchRight

double	m_wSum

Detailed Description

Definition at line 58 of file distribute-wrench.hh.

Constructor & Destructor Documentation

◆ DistributeWrench()

DistributeWrench ( const std::string & name )

Definition at line 68 of file distribute-wrench.cpp.

Member Function Documentation

◆ computeCoP()

Eigen::Vector3d computeCoP	(	const dynamicgraph::Vector &	wrench,
		const pinocchio::SE3 &	pose
	)		const

Definition at line 241 of file distribute-wrench.cpp.

◆ computeWrenchFaceMatrix()

void computeWrenchFaceMatrix ( const double mu )

protected

sizes of the left foot (pos x, neg x, pos y, neg y)

Definition at line 226 of file distribute-wrench.cpp.

◆ DECLARE_SIGNAL_IN() [1/9]

DECLARE_SIGNAL_IN	(	frictionCoefficient	,
		double
	)

◆ DECLARE_SIGNAL_IN() [2/9]

DECLARE_SIGNAL_IN	(	phase	,
		int
	)

◆ DECLARE_SIGNAL_IN() [3/9]

DECLARE_SIGNAL_IN	(	q	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [4/9]

DECLARE_SIGNAL_IN	(	rho	,
		double
	)

◆ DECLARE_SIGNAL_IN() [5/9]

DECLARE_SIGNAL_IN	(	wAnkle	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [6/9]

DECLARE_SIGNAL_IN	(	wNorm	,
		double
	)

◆ DECLARE_SIGNAL_IN() [7/9]

DECLARE_SIGNAL_IN	(	wRatio	,
		double
	)

◆ DECLARE_SIGNAL_IN() [8/9]

DECLARE_SIGNAL_IN	(	wrenchDes	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [9/9]

DECLARE_SIGNAL_IN	(	wSum	,
		double
	)

◆ DECLARE_SIGNAL_INNER() [1/2]

DECLARE_SIGNAL_INNER	(	kinematics_computations	,
		int
	)

◆ DECLARE_SIGNAL_INNER() [2/2]

DECLARE_SIGNAL_INNER	(	qp_computations	,
		int
	)

◆ DECLARE_SIGNAL_OUT() [1/11]

DECLARE_SIGNAL_OUT	(	ankleWrenchLeft	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [2/11]

DECLARE_SIGNAL_OUT	(	ankleWrenchRight	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [3/11]

DECLARE_SIGNAL_OUT	(	copLeft	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [4/11]

DECLARE_SIGNAL_OUT	(	copRight	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [5/11]

DECLARE_SIGNAL_OUT	(	emergencyStop	,
		bool
	)

◆ DECLARE_SIGNAL_OUT() [6/11]

DECLARE_SIGNAL_OUT	(	surfaceWrenchLeft	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [7/11]

DECLARE_SIGNAL_OUT	(	surfaceWrenchRight	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [8/11]

DECLARE_SIGNAL_OUT	(	wrenchLeft	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [9/11]

DECLARE_SIGNAL_OUT	(	wrenchRef	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [10/11]

DECLARE_SIGNAL_OUT	(	wrenchRight	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [11/11]

DECLARE_SIGNAL_OUT	(	zmpRef	,
		dynamicgraph::Vector
	)

◆ display()

void display ( std::ostream & os ) const

virtual

Definition at line 684 of file distribute-wrench.cpp.

◆ distributeWrench()

void distributeWrench	(	const Eigen::VectorXd &	wrenchDes,
		const double	rho,
		const double	mu
	)

protected

Definition at line 303 of file distribute-wrench.cpp.

◆ init()

void init ( const std::string & robotName )

Definition at line 157 of file distribute-wrench.cpp.

◆ saturateWrench()

void saturateWrench	(	const Eigen::VectorXd &	wrenchDes,
		const int	phase,
		const double	mu
	)

protected

Definition at line 387 of file distribute-wrench.cpp.

◆ set_left_foot_sizes()

void set_left_foot_sizes ( const dynamicgraph::Vector & s )

Definition at line 217 of file distribute-wrench.cpp.

◆ set_right_foot_sizes()

void set_right_foot_sizes ( const dynamicgraph::Vector & s )

Definition at line 209 of file distribute-wrench.cpp.

Member Data Documentation

◆ m_Aeq1

Eigen::MatrixXd m_Aeq1

protected

Definition at line 146 of file distribute-wrench.hh.

◆ m_Aeq2

Eigen::MatrixXd m_Aeq2

protected

Definition at line 158 of file distribute-wrench.hh.

◆ m_Aineq1

Eigen::MatrixXd m_Aineq1

protected

Definition at line 149 of file distribute-wrench.hh.

◆ m_Aineq2

Eigen::MatrixXd m_Aineq2

protected

Definition at line 161 of file distribute-wrench.hh.

◆ m_ankle_M_sole

pinocchio::SE3 m_ankle_M_sole

protected

Definition at line 120 of file distribute-wrench.hh.

◆ m_Beq1

Eigen::VectorXd m_Beq1

protected

Definition at line 147 of file distribute-wrench.hh.

◆ m_Beq2

Eigen::VectorXd m_Beq2

protected

Definition at line 159 of file distribute-wrench.hh.

◆ m_Bineq1

Eigen::VectorXd m_Bineq1

protected

Definition at line 150 of file distribute-wrench.hh.

◆ m_Bineq2

Eigen::VectorXd m_Bineq2

protected

Definition at line 162 of file distribute-wrench.hh.

◆ m_C1

Eigen::VectorXd m_C1

protected

Definition at line 144 of file distribute-wrench.hh.

◆ m_C2

Eigen::VectorXd m_C2

protected

Definition at line 156 of file distribute-wrench.hh.

◆ m_contactLeft

pinocchio::SE3 m_contactLeft

protected

Definition at line 125 of file distribute-wrench.hh.

◆ m_contactRight

pinocchio::SE3 m_contactRight

protected

Definition at line 126 of file distribute-wrench.hh.

◆ m_data

pinocchio::Data m_data

protected

Pinocchio robot model.

Definition at line 115 of file distribute-wrench.hh.

◆ m_emergency_stop_triggered

bool m_emergency_stop_triggered

protected

Definition at line 176 of file distribute-wrench.hh.

◆ m_eps

double m_eps

Definition at line 109 of file distribute-wrench.hh.

◆ m_initSucceeded

bool m_initSucceeded

protected

Definition at line 113 of file distribute-wrench.hh.

◆ m_left_foot_id

pinocchio::FrameIndex m_left_foot_id

protected

ankle to sole transformation

Definition at line 122 of file distribute-wrench.hh.

◆ m_left_foot_sizes

Eigen::Vector4d m_left_foot_sizes

protected

Definition at line 131 of file distribute-wrench.hh.

◆ m_model

pinocchio::Model m_model

protected

true if the entity has been successfully initialized

Definition at line 114 of file distribute-wrench.hh.

◆ m_Q1

Eigen::MatrixXd m_Q1

protected

Definition at line 143 of file distribute-wrench.hh.

◆ m_Q2

Eigen::MatrixXd m_Q2

protected

Definition at line 155 of file distribute-wrench.hh.

◆ m_qp1

eiquadprog::solvers::EiquadprogFast m_qp1

protected

Definition at line 139 of file distribute-wrench.hh.

◆ m_qp2

eiquadprog::solvers::EiquadprogFast m_qp2

protected

Definition at line 140 of file distribute-wrench.hh.

◆ m_result1

Eigen::VectorXd m_result1

protected

Definition at line 152 of file distribute-wrench.hh.

◆ m_result2

Eigen::VectorXd m_result2

protected

Definition at line 164 of file distribute-wrench.hh.

◆ m_right_foot_id

pinocchio::FrameIndex m_right_foot_id

protected

Definition at line 123 of file distribute-wrench.hh.

◆ m_right_foot_sizes

Eigen::Vector4d m_right_foot_sizes

protected

sizes of the left foot (pos x, neg x, pos y, neg y)

Definition at line 133 of file distribute-wrench.hh.

◆ m_robot_util

RobotUtilShrPtr m_robot_util

protected

Pinocchio robot data.

Definition at line 116 of file distribute-wrench.hh.

◆ m_wAnkle

Eigen::VectorXd m_wAnkle

protected

Definition at line 169 of file distribute-wrench.hh.

◆ m_wNorm

double m_wNorm

protected

Definition at line 167 of file distribute-wrench.hh.

◆ m_wRatio

double m_wRatio

protected

Definition at line 168 of file distribute-wrench.hh.

◆ m_wrenchFaceMatrix

Eigen::Matrix<double, 16, 6> m_wrenchFaceMatrix

protected

Definition at line 137 of file distribute-wrench.hh.

◆ m_wrenchLeft

Eigen::Matrix<double, 6, 1> m_wrenchLeft

protected

Definition at line 128 of file distribute-wrench.hh.

◆ m_wrenchRight

Eigen::Matrix<double, 6, 1> m_wrenchRight

protected

Definition at line 129 of file distribute-wrench.hh.

◆ m_wSum

double m_wSum

protected

Definition at line 166 of file distribute-wrench.hh.

The documentation for this class was generated from the following files:

include/sot/talos_balance/distribute-wrench.hh
src/distribute-wrench.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DistributeWrench()

Member Function Documentation

◆ computeCoP()

◆ computeWrenchFaceMatrix()

◆ DECLARE_SIGNAL_IN() [1/9]

◆ DECLARE_SIGNAL_IN() [2/9]

◆ DECLARE_SIGNAL_IN() [3/9]

◆ DECLARE_SIGNAL_IN() [4/9]

◆ DECLARE_SIGNAL_IN() [5/9]

◆ DECLARE_SIGNAL_IN() [6/9]

◆ DECLARE_SIGNAL_IN() [7/9]

◆ DECLARE_SIGNAL_IN() [8/9]

◆ DECLARE_SIGNAL_IN() [9/9]

◆ DECLARE_SIGNAL_INNER() [1/2]

◆ DECLARE_SIGNAL_INNER() [2/2]

◆ DECLARE_SIGNAL_OUT() [1/11]

◆ DECLARE_SIGNAL_OUT() [2/11]

◆ DECLARE_SIGNAL_OUT() [3/11]

◆ DECLARE_SIGNAL_OUT() [4/11]

◆ DECLARE_SIGNAL_OUT() [5/11]

◆ DECLARE_SIGNAL_OUT() [6/11]

◆ DECLARE_SIGNAL_OUT() [7/11]

◆ DECLARE_SIGNAL_OUT() [8/11]

◆ DECLARE_SIGNAL_OUT() [9/11]

◆ DECLARE_SIGNAL_OUT() [10/11]

◆ DECLARE_SIGNAL_OUT() [11/11]

◆ display()

◆ distributeWrench()

◆ init()

◆ saturateWrench()

◆ set_left_foot_sizes()

◆ set_right_foot_sizes()

Member Data Documentation

◆ m_Aeq1

◆ m_Aeq2

◆ m_Aineq1

◆ m_Aineq2

◆ m_ankle_M_sole

◆ m_Beq1

◆ m_Beq2

◆ m_Bineq1

◆ m_Bineq2

◆ m_C1

◆ m_C2

◆ m_contactLeft

◆ m_contactRight

◆ m_data

◆ m_emergency_stop_triggered

◆ m_eps

◆ m_initSucceeded

◆ m_left_foot_id

◆ m_left_foot_sizes

◆ m_model

◆ m_Q1

◆ m_Q2

◆ m_qp1

◆ m_qp2

◆ m_result1

◆ m_result2

◆ m_right_foot_id

◆ m_right_foot_sizes

◆ m_robot_util

◆ m_wAnkle

◆ m_wNorm

◆ m_wRatio

◆ m_wrenchFaceMatrix

◆ m_wrenchLeft

◆ m_wrenchRight

◆ m_wSum