#include "sot/talos_balance/hip-flexibility-compensation.hh"
#include <dynamic-graph/all-commands.h>
#include <dynamic-graph/factory.h>
#include <math.h>
#include <limits>
#include <sot/core/debug.hh>
#include <sot/core/stop-watch.hh>

Include dependency graph for hip-flexibility-compensation.cpp:

Namespaces
	dynamicgraph

	dynamicgraph::sot

	dynamicgraph::sot::talos_balance

Macros
#define	INPUT_SIGNALS m_phaseSIN << m_tauSIN << m_K_rSIN << m_K_lSIN

#define	JOINT_DES_SIGNALS m_q_desSIN

#define	OUTPUT_SIGNALS m_tau_filtSOUT << m_delta_qSOUT << m_q_cmdSOUT

#define	PROFILE_HIPFLEXIBILITYCOMPENSATION_DELTAQ_COMPUTATION "HipFlexibilityCompensation: Angular correction computation "

#define	PROFILE_HIPFLEXIBILITYCOMPENSATION_QCMD_COMPUTATION "HipFlexibilityCompensation: Corrected joint configuration computation "

#define	PROFILE_HIPFLEXIBILITYCOMPENSATION_TAUFILT_COMPUTATION "HipFlexibilityCompensation: Torque filter computation "

Functions
	DEFINE_SIGNAL_OUT_FUNCTION (delta_q, dynamicgraph::Vector)

	DEFINE_SIGNAL_OUT_FUNCTION (q_cmd, dynamicgraph::Vector)

	DEFINE_SIGNAL_OUT_FUNCTION (tau_filt, dynamicgraph::Vector)

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (HipFlexibilityCompensation, "HipFlexibilityCompensation")