DcmController Class Reference

#include <sot/talos_balance/dcm-controller.hh>

Inheritance diagram for DcmController:

Collaboration diagram for DcmController:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DcmController (const std::string &name)
	DECLARE_SIGNAL_IN (com, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (dcm, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (dcmDes, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (decayFactor, double)
	DECLARE_SIGNAL_IN (Ki, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (Kz, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (mass, double)
	DECLARE_SIGNAL_IN (omega, double)
	DECLARE_SIGNAL_IN (zmp, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (zmpDes, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (wrenchRef, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (zmpRef, dynamicgraph::Vector)
virtual void	display (std::ostream &os) const
void	init (const double &dt)
void	resetDcmIntegralError ()

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

Detailed Description

Definition at line 52 of file dcm-controller.hh.

Constructor & Destructor Documentation

DcmController()

DcmController

(

const std::string &

name

)

Definition at line 55 of file dcm-controller.cpp.

Member Function Documentation

DECLARE_SIGNAL_IN() [1/11]

DECLARE_SIGNAL_IN	(	com	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [2/11]

DECLARE_SIGNAL_IN	(	dcm	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [3/11]

DECLARE_SIGNAL_IN	(	dcmDes	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [4/11]

DECLARE_SIGNAL_IN	(	decayFactor	,
		double
	)

DECLARE_SIGNAL_IN() [5/11]

DECLARE_SIGNAL_IN	(	Ki	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [6/11]

DECLARE_SIGNAL_IN	(	Kp	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [7/11]

DECLARE_SIGNAL_IN	(	Kz	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [8/11]

DECLARE_SIGNAL_IN	(	mass	,
		double
	)

DECLARE_SIGNAL_IN() [9/11]

DECLARE_SIGNAL_IN	(	omega	,
		double
	)

DECLARE_SIGNAL_IN() [10/11]

DECLARE_SIGNAL_IN	(	zmp	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [11/11]

DECLARE_SIGNAL_IN	(	zmpDes	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [1/2]

DECLARE_SIGNAL_OUT	(	wrenchRef	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [2/2]

DECLARE_SIGNAL_OUT	(	zmpRef	,
		dynamicgraph::Vector
	)

display()

void display ( std::ostream &  os ) const

virtual

Definition at line 209 of file dcm-controller.cpp.

init()

void init

(

const double &

dt

)

Definition at line 87 of file dcm-controller.cpp.

resetDcmIntegralError()

void resetDcmIntegralError

(

)

Definition at line 115 of file dcm-controller.cpp.

Member Data Documentation

m_dcmIntegralError

dynamicgraph::Vector m_dcmIntegralError

protected

true if the entity has been successfully initialized

Definition at line 88 of file dcm-controller.hh.

m_dt

double m_dt

protected

Definition at line 89 of file dcm-controller.hh.

m_initSucceeded

bool m_initSucceeded

protected

Definition at line 87 of file dcm-controller.hh.

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

• include/sot/talos_balance/dcm-controller.hh
• src/dcm-controller.cpp