sot-talos-balance: SimpleAdmittanceController Class Reference

sot-talos-balance 2.0.5

Collection of dynamic-graph entities aimed at implementing balance control on talos.

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

Inheritance diagram for SimpleAdmittanceController:

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Collaboration diagram for SimpleAdmittanceController:

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

	DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (state, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (tau, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (tauDes, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (dqRef, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (qRef, dynamicgraph::Vector)

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

void	init (const double &dt, const unsigned &n)

void	setPosition (const dynamicgraph::Vector &position)

Public Attributes
bool	m_useState

Protected Attributes
double	m_dt

bool	m_initSucceeded

dynamicgraph::Vector	m_Kp
	true if the entity has been successfully initialized More...

int	m_n

dynamicgraph::Vector	m_q

Detailed Description

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

Constructor & Destructor Documentation

◆ SimpleAdmittanceController()

SimpleAdmittanceController ( const std::string & name )

Definition at line 56 of file simple-admittance-controller.cpp.

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/4]

DECLARE_SIGNAL_IN	(	Kp	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [2/4]

DECLARE_SIGNAL_IN	(	state	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [3/4]

DECLARE_SIGNAL_IN	(	tau	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [4/4]

DECLARE_SIGNAL_IN	(	tauDes	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [1/2]

DECLARE_SIGNAL_OUT	(	dqRef	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [2/2]

DECLARE_SIGNAL_OUT	(	qRef	,
		dynamicgraph::Vector
	)

◆ display()

void display ( std::ostream & os ) const

virtual

Definition at line 176 of file simple-admittance-controller.cpp.

◆ init()

void init	(	const double &	dt,
		const unsigned &	n
	)

Definition at line 85 of file simple-admittance-controller.cpp.

◆ setPosition()

void setPosition ( const dynamicgraph::Vector & position )

Definition at line 101 of file simple-admittance-controller.cpp.

Member Data Documentation

◆ m_dt

double m_dt

protected

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

◆ m_initSucceeded

bool m_initSucceeded

protected

Definition at line 84 of file simple-admittance-controller.hh.

◆ m_Kp

dynamicgraph::Vector m_Kp

protected

true if the entity has been successfully initialized

Definition at line 85 of file simple-admittance-controller.hh.

◆ m_n

int m_n

protected

Definition at line 82 of file simple-admittance-controller.hh.

◆ m_q

dynamicgraph::Vector m_q

protected

Definition at line 86 of file simple-admittance-controller.hh.

◆ m_useState

bool m_useState

Definition at line 79 of file simple-admittance-controller.hh.

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

include/sot/talos_balance/simple-admittance-controller.hh
src/simple-admittance-controller.cpp