sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
SimpleDistributeWrench Class Reference

#include <sot/talos_balance/simple-distribute-wrench.hh>

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Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW SimpleDistributeWrench (const std::string &name)
 
Eigen::Vector3d computeCoP (const dynamicgraph::Vector &wrench, const pinocchio::SE3 &pose) const
 
 DECLARE_SIGNAL_IN (phase, int)
 
 DECLARE_SIGNAL_IN (q, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (rho, double)
 
 DECLARE_SIGNAL_IN (wrenchDes, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_INNER (kinematics_computations, int)
 
 DECLARE_SIGNAL_INNER (wrenches, int)
 
 DECLARE_SIGNAL_OUT (ankleWrenchLeft, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (ankleWrenchRight, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (copLeft, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (copRight, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (emergencyStop, bool)
 
 DECLARE_SIGNAL_OUT (surfaceWrenchLeft, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (surfaceWrenchRight, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (wrenchLeft, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (wrenchRef, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (wrenchRight, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (zmpRef, dynamicgraph::Vector)
 
virtual void display (std::ostream &os) const
 
void init (const std::string &robotName)
 

Protected Member Functions

void distributeWrench (const Eigen::VectorXd &wrenchDes, const double rho)
 
void saturateWrench (const Eigen::VectorXd &wrenchDes, const int phase)
 

Protected Attributes

pinocchio::SE3 m_ankle_M_sole
 
pinocchio::SE3 m_contactLeft
 
pinocchio::SE3 m_contactRight
 
pinocchio::Data m_data
 Pinocchio robot model. More...
 
bool m_emergency_stop_triggered
 
bool m_initSucceeded
 
pinocchio::FrameIndex m_left_foot_id
 ankle to sole transformation More...
 
pinocchio::Model m_model
 true if the entity has been successfully initialized More...
 
pinocchio::FrameIndex m_right_foot_id
 
RobotUtilShrPtr m_robot_util
 Pinocchio robot data. More...
 
Eigen::Matrix< double, 6, 1 > m_wrenchLeft
 
Eigen::Matrix< double, 6, 1 > m_wrenchRight
 

Detailed Description

Definition at line 57 of file simple-distribute-wrench.hh.

Constructor & Destructor Documentation

◆ SimpleDistributeWrench()

SimpleDistributeWrench ( const std::string &  name)

Definition at line 64 of file simple-distribute-wrench.cpp.

Member Function Documentation

◆ computeCoP()

Eigen::Vector3d computeCoP ( const dynamicgraph::Vector &  wrench,
const pinocchio::SE3 &  pose 
) const

Definition at line 146 of file simple-distribute-wrench.cpp.

◆ DECLARE_SIGNAL_IN() [1/4]

DECLARE_SIGNAL_IN ( phase  ,
int   
)

◆ DECLARE_SIGNAL_IN() [2/4]

DECLARE_SIGNAL_IN ( q  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [3/4]

DECLARE_SIGNAL_IN ( rho  ,
double   
)

◆ DECLARE_SIGNAL_IN() [4/4]

DECLARE_SIGNAL_IN ( wrenchDes  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_INNER() [1/2]

DECLARE_SIGNAL_INNER ( kinematics_computations  ,
int   
)

◆ DECLARE_SIGNAL_INNER() [2/2]

DECLARE_SIGNAL_INNER ( wrenches  ,
int   
)

◆ DECLARE_SIGNAL_OUT() [1/11]

DECLARE_SIGNAL_OUT ( ankleWrenchLeft  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [2/11]

DECLARE_SIGNAL_OUT ( ankleWrenchRight  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [3/11]

DECLARE_SIGNAL_OUT ( copLeft  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [4/11]

DECLARE_SIGNAL_OUT ( copRight  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [5/11]

DECLARE_SIGNAL_OUT ( emergencyStop  ,
bool   
)

◆ DECLARE_SIGNAL_OUT() [6/11]

DECLARE_SIGNAL_OUT ( surfaceWrenchLeft  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [7/11]

DECLARE_SIGNAL_OUT ( surfaceWrenchRight  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [8/11]

DECLARE_SIGNAL_OUT ( wrenchLeft  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [9/11]

DECLARE_SIGNAL_OUT ( wrenchRef  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [10/11]

DECLARE_SIGNAL_OUT ( wrenchRight  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [11/11]

DECLARE_SIGNAL_OUT ( zmpRef  ,
dynamicgraph::Vector   
)

◆ display()

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

Definition at line 486 of file simple-distribute-wrench.cpp.

◆ distributeWrench()

void distributeWrench ( const Eigen::VectorXd &  wrenchDes,
const double  rho 
)
protected

Definition at line 208 of file simple-distribute-wrench.cpp.

◆ init()

void init ( const std::string &  robotName)

Definition at line 101 of file simple-distribute-wrench.cpp.

◆ saturateWrench()

void saturateWrench ( const Eigen::VectorXd &  wrenchDes,
const int  phase 
)
protected

Definition at line 230 of file simple-distribute-wrench.cpp.

Member Data Documentation

◆ m_ankle_M_sole

pinocchio::SE3 m_ankle_M_sole
protected

Definition at line 108 of file simple-distribute-wrench.hh.

◆ m_contactLeft

pinocchio::SE3 m_contactLeft
protected

Definition at line 113 of file simple-distribute-wrench.hh.

◆ m_contactRight

pinocchio::SE3 m_contactRight
protected

Definition at line 114 of file simple-distribute-wrench.hh.

◆ m_data

pinocchio::Data m_data
protected

Pinocchio robot model.

Definition at line 103 of file simple-distribute-wrench.hh.

◆ m_emergency_stop_triggered

bool m_emergency_stop_triggered
protected

Definition at line 122 of file simple-distribute-wrench.hh.

◆ m_initSucceeded

bool m_initSucceeded
protected

Definition at line 101 of file simple-distribute-wrench.hh.

◆ m_left_foot_id

pinocchio::FrameIndex m_left_foot_id
protected

ankle to sole transformation

Definition at line 110 of file simple-distribute-wrench.hh.

◆ m_model

pinocchio::Model m_model
protected

true if the entity has been successfully initialized

Definition at line 102 of file simple-distribute-wrench.hh.

◆ m_right_foot_id

pinocchio::FrameIndex m_right_foot_id
protected

Definition at line 111 of file simple-distribute-wrench.hh.

◆ m_robot_util

RobotUtilShrPtr m_robot_util
protected

Pinocchio robot data.

Definition at line 104 of file simple-distribute-wrench.hh.

◆ m_wrenchLeft

Eigen::Matrix<double, 6, 1> m_wrenchLeft
protected

Definition at line 116 of file simple-distribute-wrench.hh.

◆ m_wrenchRight

Eigen::Matrix<double, 6, 1> m_wrenchRight
protected

Definition at line 117 of file simple-distribute-wrench.hh.

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