foot-force-difference-controller.cpp File Reference

#include "sot/talos_balance/foot-force-difference-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 foot-force-difference-controller.cpp:

Go to the source code of this file.

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

Macros
#define	INNER_SIGNALS   m_dz_ctrlSOUT << m_dz_posSOUT
#define	INPUT_SIGNALS
#define	OUTPUT_SIGNALS   m_vRightSOUT << m_vLeftSOUT << m_gainRightSOUT << m_gainLeftSOUT

Functions
	DEFINE_SIGNAL_INNER_FUNCTION (dz_ctrl, double)
	DEFINE_SIGNAL_INNER_FUNCTION (dz_pos, double)
	DEFINE_SIGNAL_OUT_FUNCTION (gainLeft, double)
	DEFINE_SIGNAL_OUT_FUNCTION (gainRight, double)
	DEFINE_SIGNAL_OUT_FUNCTION (vLeft, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (vRight, dynamicgraph::Vector)
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FootForceDifferenceController, "FootForceDifferenceController")

Macro Definition Documentation

INNER_SIGNALS

#define INNER_SIGNALS   m_dz_ctrlSOUT << m_dz_posSOUT

Definition at line 41 of file foot-force-difference-controller.cpp.

INPUT_SIGNALS

#define INPUT_SIGNALS

Value:

  m_phaseSIN << m_gainSwingSIN << m_gainStanceSIN << m_gainDoubleSIN       \
             << m_dfzAdmittanceSIN << m_vdcFrequencySIN << m_vdcDampingSIN \
             << m_swingAdmittanceSIN << m_wrenchRightDesSIN                \
             << m_wrenchLeftDesSIN << m_wrenchRightSIN << m_wrenchLeftSIN  \
             << m_posRightDesSIN << m_posLeftDesSIN << m_posRightSIN       \
             << m_posLeftSIN

Definition at line 33 of file foot-force-difference-controller.cpp.

OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_vRightSOUT << m_vLeftSOUT << m_gainRightSOUT << m_gainLeftSOUT

Definition at line 43 of file foot-force-difference-controller.cpp.