FootForceDifferenceController Class Reference

#include <sot/talos_balance/foot-force-difference-controller.hh>

Inheritance diagram for FootForceDifferenceController:

Collaboration diagram for FootForceDifferenceController:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	FootForceDifferenceController (const std::string &name)
	DECLARE_SIGNAL_IN (dfzAdmittance, double)
	DECLARE_SIGNAL_IN (gainDouble, double)
	DECLARE_SIGNAL_IN (gainStance, double)
	DECLARE_SIGNAL_IN (gainSwing, double)
	DECLARE_SIGNAL_IN (phase, int)
	DECLARE_SIGNAL_IN (posLeft, MatrixHomogeneous)
	DECLARE_SIGNAL_IN (posLeftDes, MatrixHomogeneous)
	DECLARE_SIGNAL_IN (posRight, MatrixHomogeneous)
	DECLARE_SIGNAL_IN (posRightDes, MatrixHomogeneous)
	DECLARE_SIGNAL_IN (swingAdmittance, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (vdcDamping, double)
	DECLARE_SIGNAL_IN (vdcFrequency, double)
	DECLARE_SIGNAL_IN (wrenchLeft, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (wrenchLeftDes, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (wrenchRight, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (wrenchRightDes, dynamicgraph::Vector)
	DECLARE_SIGNAL_INNER (dz_ctrl, double)
	DECLARE_SIGNAL_INNER (dz_pos, double)
	DECLARE_SIGNAL_OUT (gainLeft, double)
	DECLARE_SIGNAL_OUT (gainRight, double)
	DECLARE_SIGNAL_OUT (vLeft, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (vRight, dynamicgraph::Vector)
virtual void	display (std::ostream &os) const
void	init ()

Protected Member Functions
Eigen::Vector3d	calcSwingAdmittance (const dynamicgraph::Vector &wrench, const dynamicgraph::Vector &swingAdmittance)

Protected Attributes
double	m_eps
bool	m_initSucceeded

Detailed Description

Definition at line 54 of file foot-force-difference-controller.hh.

Constructor & Destructor Documentation

FootForceDifferenceController()

FootForceDifferenceController

(

const std::string &

name

)

Definition at line 57 of file foot-force-difference-controller.cpp.

Member Function Documentation

calcSwingAdmittance()

Eigen::Vector3d calcSwingAdmittance ( const dynamicgraph::Vector &  wrench, const dynamicgraph::Vector &  swingAdmittance  )

protected

Definition at line 120 of file foot-force-difference-controller.cpp.

DECLARE_SIGNAL_IN() [1/16]

DECLARE_SIGNAL_IN	(	dfzAdmittance	,
		double
	)

DECLARE_SIGNAL_IN() [2/16]

DECLARE_SIGNAL_IN	(	gainDouble	,
		double
	)

DECLARE_SIGNAL_IN() [3/16]

DECLARE_SIGNAL_IN	(	gainStance	,
		double
	)

DECLARE_SIGNAL_IN() [4/16]

DECLARE_SIGNAL_IN	(	gainSwing	,
		double
	)

DECLARE_SIGNAL_IN() [5/16]

DECLARE_SIGNAL_IN	(	phase	,
		int
	)

DECLARE_SIGNAL_IN() [6/16]

DECLARE_SIGNAL_IN	(	posLeft	,
		MatrixHomogeneous
	)

DECLARE_SIGNAL_IN() [7/16]

DECLARE_SIGNAL_IN	(	posLeftDes	,
		MatrixHomogeneous
	)

DECLARE_SIGNAL_IN() [8/16]

DECLARE_SIGNAL_IN	(	posRight	,
		MatrixHomogeneous
	)

DECLARE_SIGNAL_IN() [9/16]

DECLARE_SIGNAL_IN	(	posRightDes	,
		MatrixHomogeneous
	)

DECLARE_SIGNAL_IN() [10/16]

DECLARE_SIGNAL_IN	(	swingAdmittance	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [11/16]

DECLARE_SIGNAL_IN	(	vdcDamping	,
		double
	)

DECLARE_SIGNAL_IN() [12/16]

DECLARE_SIGNAL_IN	(	vdcFrequency	,
		double
	)

DECLARE_SIGNAL_IN() [13/16]

DECLARE_SIGNAL_IN	(	wrenchLeft	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [14/16]

DECLARE_SIGNAL_IN	(	wrenchLeftDes	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [15/16]

DECLARE_SIGNAL_IN	(	wrenchRight	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [16/16]

DECLARE_SIGNAL_IN	(	wrenchRightDes	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_INNER() [1/2]

DECLARE_SIGNAL_INNER	(	dz_ctrl	,
		double
	)

DECLARE_SIGNAL_INNER() [2/2]

DECLARE_SIGNAL_INNER	(	dz_pos	,
		double
	)

DECLARE_SIGNAL_OUT() [1/4]

DECLARE_SIGNAL_OUT	(	gainLeft	,
		double
	)

DECLARE_SIGNAL_OUT() [2/4]

DECLARE_SIGNAL_OUT	(	gainRight	,
		double
	)

DECLARE_SIGNAL_OUT() [3/4]

DECLARE_SIGNAL_OUT	(	vLeft	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [4/4]

DECLARE_SIGNAL_OUT	(	vRight	,
		dynamicgraph::Vector
	)

display()

void display ( std::ostream &  os ) const

virtual

Definition at line 293 of file foot-force-difference-controller.cpp.

init()

void init

(

)

Definition at line 118 of file foot-force-difference-controller.cpp.

Member Data Documentation

m_eps

double m_eps

protected

Definition at line 107 of file foot-force-difference-controller.hh.

m_initSucceeded

bool m_initSucceeded

protected

Definition at line 109 of file foot-force-difference-controller.hh.

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

• include/sot/talos_balance/foot-force-difference-controller.hh
• src/foot-force-difference-controller.cpp