distribute-wrench.cpp File Reference

#include "sot/talos_balance/distribute-wrench.hh"
#include <dynamic-graph/all-commands.h>
#include <dynamic-graph/factory.h>
#include <iostream>
#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
#include <pinocchio/parsers/urdf.hpp>
#include <sot/core/debug.hh>
#include <sot/core/stop-watch.hh>

Include dependency graph for distribute-wrench.cpp:

Go to the source code of this file.

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

Macros
#define	INNER_SIGNALS   m_kinematics_computations << m_qp_computations
#define	INPUT_SIGNALS
#define	OUTPUT_SIGNALS
#define	PROFILE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS   "DistributeWrench: kinematics computations "
#define	PROFILE_DISTRIBUTE_WRENCH_QP_COMPUTATIONS   "DistributeWrench: QP problem computations "
#define	WEIGHT_SIGNALS   m_wSumSIN << m_wNormSIN << m_wRatioSIN << m_wAnkleSIN

Functions
	DEFINE_SIGNAL_INNER_FUNCTION (kinematics_computations, int)
	DEFINE_SIGNAL_INNER_FUNCTION (qp_computations, int)
	DEFINE_SIGNAL_OUT_FUNCTION (ankleWrenchLeft, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (ankleWrenchRight, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (copLeft, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (copRight, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (emergencyStop, bool)
	DEFINE_SIGNAL_OUT_FUNCTION (surfaceWrenchLeft, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (surfaceWrenchRight, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (wrenchLeft, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (wrenchRef, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (wrenchRight, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (zmpRef, dynamicgraph::Vector)
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DistributeWrench, "DistributeWrench")

Macro Definition Documentation

INNER_SIGNALS

#define INNER_SIGNALS   m_kinematics_computations << m_qp_computations

Definition at line 49 of file distribute-wrench.cpp.

INPUT_SIGNALS

#define INPUT_SIGNALS

Value:

  m_wrenchDesSIN << m_qSIN << m_rhoSIN << m_phaseSIN \
                 << m_frictionCoefficientSIN << WEIGHT_SIGNALS

Definition at line 45 of file distribute-wrench.cpp.

OUTPUT_SIGNALS

#define OUTPUT_SIGNALS

Value:

  m_wrenchLeftSOUT << m_ankleWrenchLeftSOUT << m_surfaceWrenchLeftSOUT   \
                   << m_copLeftSOUT << m_wrenchRightSOUT                 \
                   << m_ankleWrenchRightSOUT << m_surfaceWrenchRightSOUT \
                   << m_copRightSOUT << m_wrenchRefSOUT << m_zmpRefSOUT  \
                   << m_emergencyStopSOUT

Definition at line 51 of file distribute-wrench.cpp.

PROFILE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS

#define PROFILE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS   "DistributeWrench: kinematics computations "

Definition at line 38 of file distribute-wrench.cpp.

PROFILE_DISTRIBUTE_WRENCH_QP_COMPUTATIONS

#define PROFILE_DISTRIBUTE_WRENCH_QP_COMPUTATIONS   "DistributeWrench: QP problem computations "

Definition at line 40 of file distribute-wrench.cpp.

WEIGHT_SIGNALS

#define WEIGHT_SIGNALS   m_wSumSIN << m_wNormSIN << m_wRatioSIN << m_wAnkleSIN

Definition at line 43 of file distribute-wrench.cpp.