coupled-admittance-controller.cpp File Reference

#include "sot/talos_balance/coupled-admittance-controller.hh"
#include <dynamic-graph/all-commands.h>
#include <dynamic-graph/command-bind.h>
#include <dynamic-graph/factory.h>
#include <sot/core/debug.hh>
#include <sot/core/stop-watch.hh>

Include dependency graph for coupled-admittance-controller.cpp:

Go to the source code of this file.

Namespaces
	dynamicgraph
	dynamicgraph::sot
	dynamicgraph::sot::talos_balance

Macros
#define	INNER_SIGNALS
#define	INPUT_SIGNALS
#define	OUTPUT_SIGNALS   m_dqRefLSOUT << m_dqRefRSOUT
#define	PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFDIFF_COMPUTATION   "CoupledAdmittanceController: dqReDiff computation "
#define	PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFL_COMPUTATION   "CoupledAdmittanceController: dqRefL computation "
#define	PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFR_COMPUTATION   "CoupledAdmittanceController: dqRefR computation "
#define	PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFSUM_COMPUTATION   "CoupledAdmittanceController: dqRefSum computation "
#define	PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESDIFF_COMPUTATION   "CoupledAdmittanceController: tauDesDiff computation "
#define	PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESSUM_COMPUTATION   "CoupledAdmittanceController: tauDesSum computation "
#define	PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDIFF_COMPUTATION   "CoupledAdmittanceController: tauDiff computation "
#define	PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUSUM_COMPUTATION   "CoupledAdmittanceController: tauSum computation "

Functions
	DEFINE_SIGNAL_INNER_FUNCTION (dqRefDiff, dynamicgraph::Vector)
	DEFINE_SIGNAL_INNER_FUNCTION (dqRefSum, dynamicgraph::Vector)
	DEFINE_SIGNAL_INNER_FUNCTION (tauDesDiff, dynamicgraph::Vector)
	DEFINE_SIGNAL_INNER_FUNCTION (tauDesSum, dynamicgraph::Vector)
	DEFINE_SIGNAL_INNER_FUNCTION (tauDiff, dynamicgraph::Vector)
	DEFINE_SIGNAL_INNER_FUNCTION (tauSum, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (dqRefL, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (dqRefR, dynamicgraph::Vector)
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (CoupledAdmittanceController, "CoupledAdmittanceController")

Macro Definition Documentation

INNER_SIGNALS

#define INNER_SIGNALS

Value:

  m_tauSumSINNER << m_tauDiffSINNER << m_tauDesSumSINNER << m_tauDesDiffSINNER \
                 << m_dqRefSumSINNER << m_dqRefDiffSINNER

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

INPUT_SIGNALS

#define INPUT_SIGNALS

Value:

  m_kSumSIN << m_kDiffSIN << m_tauLSIN << m_tauRSIN << m_tauDesLSIN \
            << m_tauDesRSIN

Definition at line 52 of file coupled-admittance-controller.cpp.

OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_dqRefLSOUT << m_dqRefRSOUT

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

PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFDIFF_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFDIFF_COMPUTATION   "CoupledAdmittanceController: dqReDiff computation "

Definition at line 45 of file coupled-admittance-controller.cpp.

PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFL_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFL_COMPUTATION   "CoupledAdmittanceController: dqRefL computation "

Definition at line 47 of file coupled-admittance-controller.cpp.

PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFR_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFR_COMPUTATION   "CoupledAdmittanceController: dqRefR computation "

Definition at line 49 of file coupled-admittance-controller.cpp.

PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFSUM_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_DQREFSUM_COMPUTATION   "CoupledAdmittanceController: dqRefSum computation "

Definition at line 43 of file coupled-admittance-controller.cpp.

PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESDIFF_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESDIFF_COMPUTATION   "CoupledAdmittanceController: tauDesDiff computation "

Definition at line 41 of file coupled-admittance-controller.cpp.

PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESSUM_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDESSUM_COMPUTATION   "CoupledAdmittanceController: tauDesSum computation "

Definition at line 39 of file coupled-admittance-controller.cpp.

PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDIFF_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUDIFF_COMPUTATION   "CoupledAdmittanceController: tauDiff computation "

Definition at line 37 of file coupled-admittance-controller.cpp.

PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUSUM_COMPUTATION

#define PROFILE_COUPLED_ADMITTANCECONTROLLER_TAUSUM_COMPUTATION   "CoupledAdmittanceController: tauSum computation "

Definition at line 35 of file coupled-admittance-controller.cpp.