sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
dcm-com-controller.hh
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1 /*
2  * Copyright 2018, Gepetto team, LAAS-CNRS
3  *
4  * This file is part of sot-talos-balance.
5  * sot-talos-balance is free software: you can redistribute it and/or
6  * modify it under the terms of the GNU Lesser General Public License
7  * as published by the Free Software Foundation, either version 3 of
8  * the License, or (at your option) any later version.
9  * sot-talos-balance is distributed in the hope that it will be
10  * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11  * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU Lesser General Public License for more details. You should
13  * have received a copy of the GNU Lesser General Public License along
14  * with sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
15  */
16 
17 #ifndef __sot_talos_balance_dcm_com_controller_H__
18 #define __sot_talos_balance_dcm_com_controller_H__
19 
20 /* --------------------------------------------------------------------- */
21 /* --- API ------------------------------------------------------------- */
22 /* --------------------------------------------------------------------- */
23 
24 #if defined(WIN32)
25 #if defined(dcm_com_controller_EXPORTS)
26 #define DCMCOMCONTROLLER_EXPORT __declspec(dllexport)
27 #else
28 #define DCMCOMCONTROLLER_EXPORT __declspec(dllimport)
29 #endif
30 #else
31 #define DCMCOMCONTROLLER_EXPORT
32 #endif
33 
34 /* --------------------------------------------------------------------- */
35 /* --- INCLUDE --------------------------------------------------------- */
36 /* --------------------------------------------------------------------- */
37 
38 #include <dynamic-graph/signal-helper.h>
39 
40 #include <map>
41 
42 #include "boost/assign.hpp"
43 
44 namespace dynamicgraph {
45 namespace sot {
46 namespace talos_balance {
47 
48 /* --------------------------------------------------------------------- */
49 /* --- CLASS ----------------------------------------------------------- */
50 /* --------------------------------------------------------------------- */
51 
52 class DCMCOMCONTROLLER_EXPORT DcmComController : public ::dynamicgraph::Entity {
53  DYNAMIC_GRAPH_ENTITY_DECL();
54 
55  public:
56  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
57 
58  /* --- CONSTRUCTOR ---- */
59  DcmComController(const std::string& name);
60 
61  void init(const double& dt);
62 
63  void resetDcmIntegralError();
64 
65  /* --- SIGNALS --- */
68  DECLARE_SIGNAL_IN(decayFactor, double);
75 
79 
80  /* --- COMMANDS --- */
81  /* --- ENTITY INHERITANCE --- */
82  virtual void display(std::ostream& os) const;
83 
84  protected:
85  bool
88  double m_dt;
89 
90 }; // class DcmComController
91 
92 } // namespace talos_balance
93 } // namespace sot
94 } // namespace dynamicgraph
95 
96 #endif // #ifndef __sot_talos_balance_dcm_com_controller_H__
DECLARE_SIGNAL_OUT(wrenchRef, dynamicgraph::Vector)
DECLARE_SIGNAL_IN(dcmDes, dynamicgraph::Vector)
DECLARE_SIGNAL_IN(comDes, dynamicgraph::Vector)
DECLARE_SIGNAL_OUT(ddcomRef, dynamicgraph::Vector)
DECLARE_SIGNAL_OUT(zmpRef, dynamicgraph::Vector)
dynamicgraph::Vector m_dcmIntegralError
true if the entity has been successfully initialized
DECLARE_SIGNAL_IN(ddcomDes, dynamicgraph::Vector)
#define DCMCOMCONTROLLER_EXPORT
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hh:36