ComAdmittanceController Class Reference

#include <sot/talos_balance/com-admittance-controller.hh>

Inheritance diagram for ComAdmittanceController:

Collaboration diagram for ComAdmittanceController:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ComAdmittanceController (const std::string &name)
	DECLARE_SIGNAL_IN (ddcomDes, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (zmp, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (zmpDes, dynamicgraph::Vector)
	DECLARE_SIGNAL_INNER (stateRef, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (comRef, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (dcomRef, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (ddcomRef, dynamicgraph::Vector)
virtual void	display (std::ostream &os) const
void	init (const double &dt)
void	setPosition (const dynamicgraph::Vector &)
void	setState (const dynamicgraph::Vector &, const dynamicgraph::Vector &)
void	setVelocity (const dynamicgraph::Vector &)

Protected Attributes
double	m_dt
bool	m_initSucceeded
dynamicgraph::Vector	m_state
	true if the entity has been successfully initialized More...

Detailed Description

Definition at line 52 of file com-admittance-controller.hh.

Constructor & Destructor Documentation

ComAdmittanceController()

ComAdmittanceController

(

const std::string &

name

)

Definition at line 60 of file com-admittance-controller.cpp.

Member Function Documentation

DECLARE_SIGNAL_IN() [1/4]

DECLARE_SIGNAL_IN	(	ddcomDes	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [2/4]

DECLARE_SIGNAL_IN	(	Kp	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [3/4]

DECLARE_SIGNAL_IN	(	zmp	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [4/4]

DECLARE_SIGNAL_IN	(	zmpDes	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_INNER()

DECLARE_SIGNAL_INNER	(	stateRef	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [1/3]

DECLARE_SIGNAL_OUT	(	comRef	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [2/3]

DECLARE_SIGNAL_OUT	(	dcomRef	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [3/3]

DECLARE_SIGNAL_OUT	(	ddcomRef	,
		dynamicgraph::Vector
	)

display()

void display ( std::ostream &  os ) const

virtual

Definition at line 231 of file com-admittance-controller.cpp.

init()

void init

(

const double &

dt

)

Definition at line 95 of file com-admittance-controller.cpp.

setPosition()

void setPosition

(

const dynamicgraph::Vector &

com

)

Definition at line 112 of file com-admittance-controller.cpp.

setState()

void setState	(	const dynamicgraph::Vector &	com,
		const dynamicgraph::Vector &	dcom
	)

Definition at line 120 of file com-admittance-controller.cpp.

setVelocity()

void setVelocity

(

const dynamicgraph::Vector &

dcom

)

Definition at line 116 of file com-admittance-controller.cpp.

Member Data Documentation

m_dt

double m_dt

protected

Definition at line 89 of file com-admittance-controller.hh.

m_initSucceeded

bool m_initSucceeded

protected

Definition at line 87 of file com-admittance-controller.hh.

m_state

dynamicgraph::Vector m_state

protected

true if the entity has been successfully initialized

Definition at line 88 of file com-admittance-controller.hh.

---

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

• include/sot/talos_balance/com-admittance-controller.hh
• src/com-admittance-controller.cpp