dcm-controller.cpp File Reference

#include "sot/talos_balance/dcm-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 dcm-controller.cpp:

Go to the source code of this file.

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

Macros
#define	INPUT_SIGNALS
#define	OUTPUT_SIGNALS   m_zmpRefSOUT << m_wrenchRefSOUT
#define	PROFILE_DCMCONTROLLER_WRENCHREF_COMPUTATION   "DcmController: wrenchRef computation "
#define	PROFILE_DCMCONTROLLER_ZMPREF_COMPUTATION   "DcmController: zmpRef computation "

Functions
	DEFINE_SIGNAL_OUT_FUNCTION (wrenchRef, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (zmpRef, dynamicgraph::Vector)
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DcmController, "DcmController")

Macro Definition Documentation

INPUT_SIGNALS

#define INPUT_SIGNALS

Value:

  m_KpSIN << m_KiSIN << m_KzSIN << m_decayFactorSIN << m_omegaSIN << m_massSIN \
          << m_comSIN << m_dcmSIN << m_dcmDesSIN << m_zmpDesSIN << m_zmpSIN

Definition at line 39 of file dcm-controller.cpp.

OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_zmpRefSOUT << m_wrenchRefSOUT

Definition at line 43 of file dcm-controller.cpp.

PROFILE_DCMCONTROLLER_WRENCHREF_COMPUTATION

#define PROFILE_DCMCONTROLLER_WRENCHREF_COMPUTATION   "DcmController: wrenchRef computation "

Definition at line 36 of file dcm-controller.cpp.

PROFILE_DCMCONTROLLER_ZMPREF_COMPUTATION

#define PROFILE_DCMCONTROLLER_ZMPREF_COMPUTATION   "DcmController: zmpRef computation "

Definition at line 34 of file dcm-controller.cpp.