sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
Namespaces | Classes | Typedefs | Functions
dynamicgraph::sot::talos_balance Namespace Reference

Namespaces

 math
 
 robots
 

Classes

class  AdmittanceControllerEndEffector
 Admittance controller for an upper body end-effector (right or left wrist) More...
 
class  AnkleAdmittanceController
 
class  AnkleJointSelector
 
class  BooleanIdentity
 
class  ComAdmittanceController
 
class  CoupledAdmittanceController
 
class  CtrlMode
 
class  DcmComController
 
class  DcmController
 
class  DcmEstimator
 
class  Delay
 Delay. More...
 
class  DistributeWrench
 
class  DummyDcmEstimator
 
class  DummyWalkingPatternGenerator
 
class  EulerToQuat
 
class  Example
 
class  FootForceDifferenceController
 
class  FtCalibration
 
class  FtWristCalibration
 
class  HipFlexibilityCompensation
 
class  IntIdentity
 
class  JointPositionController
 
class  NdTrajectoryGenerator
 
class  PoseQuaternionToMatrixHomo
 
class  QualisysClient
 
class  QuatToEuler
 
class  RoundDoubleToInt
 
class  Saturation
 
class  SimpleAdmittanceController
 
class  SimpleController6d
 
class  SimpleDistributeWrench
 
class  SimplePID
 
class  SimplePIDD
 
class  SimpleReferenceFrame
 
class  SimpleStateIntegrator
 
class  SimpleZmpEstimator
 
class  StateTransformation
 
class  TalosBaseEstimator
 
class  TalosControlManager
 

Typedefs

typedef Delay< Vector, int > DelayVector
 
typedef AdmittanceControllerEndEffector EntityClassName
 

Functions

 DEFINE_SIGNAL_INNER_FUNCTION (dqRefDiff, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (dqRefSum, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (dz_ctrl, double)
 
 DEFINE_SIGNAL_INNER_FUNCTION (dz_pos, double)
 
 DEFINE_SIGNAL_INNER_FUNCTION (kinematics_computations, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (kinematics_computations, int)
 
 DEFINE_SIGNAL_INNER_FUNCTION (leftWeight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (qp_computations, int)
 
 DEFINE_SIGNAL_INNER_FUNCTION (rf, MatrixHomogeneous)
 
 DEFINE_SIGNAL_INNER_FUNCTION (rightWeight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (stateRef, 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_INNER_FUNCTION (w_dq, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (w_force, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_INNER_FUNCTION (wrenches, int)
 
 DEFINE_SIGNAL_OUT_FUNCTION (a_ac, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (acomDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ankleWrenchLeft, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ankleWrenchRight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (c, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (comDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (comRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (copLeft, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (copRight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dc, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dcm, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dcmDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dcomRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ddcomRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ddx, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (ddx_ref, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (delta_q, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dq, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dqRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dqRefL, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dqRefR, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dRP, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dx, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (dx_ref, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (emergencyStop, bool)
 
 DEFINE_SIGNAL_OUT_FUNCTION (euler, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (footLeftDes, MatrixHomogeneous)
 
 DEFINE_SIGNAL_OUT_FUNCTION (footRightDes, MatrixHomogeneous)
 
 DEFINE_SIGNAL_OUT_FUNCTION (gainLeft, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (gainRight, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (left_foot_force_out, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (leftPitch, dg::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (leftRoll, dg::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (leftWristForceOut, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (lf_xyzquat, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (nbJoints, int)
 
 DEFINE_SIGNAL_OUT_FUNCTION (omegaDes, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (phaseDes, int)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_cmd, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_imu, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_lf, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (q_rf, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (qRef, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (quaternion, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (referenceFrame, MatrixHomogeneous)
 
 DEFINE_SIGNAL_OUT_FUNCTION (rf_xyzquat, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (rhoDes, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (right_foot_force_out, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (rightPitch, dg::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (rightRoll, dg::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (rightWristForceOut, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (selecLeft, Flags)
 
 DEFINE_SIGNAL_OUT_FUNCTION (selecRight, Flags)
 
 DEFINE_SIGNAL_OUT_FUNCTION (sout, bool)
 
 DEFINE_SIGNAL_OUT_FUNCTION (sout, int)
 
 DEFINE_SIGNAL_OUT_FUNCTION (sout, MatrixHomogeneous)
 
 DEFINE_SIGNAL_OUT_FUNCTION (state, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (sum, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (surfaceWrenchLeft, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (surfaceWrenchRight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (tau_filt, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (u, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (u_safe, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_ac, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_flex, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_gyr, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_imu, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_kin, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (v_ref, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vcomDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (velocity, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vLeft, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (vRight, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_lf, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_lf_filtered, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_rf, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (w_rf_filtered, double)
 
 DEFINE_SIGNAL_OUT_FUNCTION (waistDes, MatrixHomogeneous)
 
 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 (x, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (yOut, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmp, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmpDes, dynamicgraph::Vector)
 
 DEFINE_SIGNAL_OUT_FUNCTION (zmpRef, dynamicgraph::Vector)
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (AdmittanceControllerEndEffector, "AdmittanceControllerEndEffector")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (AnkleAdmittanceController, "AnkleAdmittanceController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (AnkleJointSelector, "AnkleJointSelector")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (BooleanIdentity, "BooleanIdentity")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ComAdmittanceController, "ComAdmittanceController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (CoupledAdmittanceController, "CoupledAdmittanceController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DcmComController, "DcmComController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DcmController, "DcmController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DcmEstimator, "DcmEstimator")
 
template<>
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DelayVector, "DelayVector")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DistributeWrench, "DistributeWrench")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DummyDcmEstimator, "DummyDcmEstimator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DummyWalkingPatternGenerator, "DummyWalkingPatternGenerator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (EulerToQuat, "EulerToQuat")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Example, "Example")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FootForceDifferenceController, "FootForceDifferenceController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FtCalibration, "FtCalibration")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FtWristCalibration, "FtWristCalibration")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (HipFlexibilityCompensation, "HipFlexibilityCompensation")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (IntIdentity, "IntIdentity")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (JointPositionController, "JointPositionController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (NdTrajectoryGenerator, "NdTrajectoryGenerator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (PoseQuaternionToMatrixHomo, "PoseQuaternionToMatrixHomo")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (QualisysClient, "QualisysClient")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (QuatToEuler, "QuatToEuler")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (RoundDoubleToInt, "RoundDoubleToInt")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Saturation, "Saturation")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleAdmittanceController, "SimpleAdmittanceController")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleController6d, "SimpleController6d")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleDistributeWrench, "SimpleDistributeWrench")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimplePID, "SimplePID")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimplePIDD, "SimplePIDD")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleReferenceFrame, "SimpleReferenceFrame")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleStateIntegrator, "SimpleStateIntegrator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleZmpEstimator, "SimpleZmpEstimator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (StateTransformation, "StateTransformation")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (TalosBaseEstimator, "TalosBaseEstimator")
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (TalosControlManager, "TalosControlManager")
 
double eulerMean (double a1, double a2)
 
void matrixToRpy (const Eigen::Matrix3d &M, Eigen::Vector3d &rpy)
 
std::ostream & operator<< (std::ostream &os, const CtrlMode &s)
 
void rpyToMatrix (const Eigen::Vector3d &rpy, Eigen::Matrix3d &R)
 
void rpyToMatrix (double r, double p, double y, Eigen::Matrix3d &R)
 
void se3Interp (const pinocchio::SE3 &s1, const pinocchio::SE3 &s2, const double alpha, pinocchio::SE3 &s12)
 
double wEulerMean (double a1, double a2, double w1, double w2)
 

Typedef Documentation

◆ DelayVector

typedef Delay<Vector, int> DelayVector

Definition at line 101 of file delay.hh.

◆ EntityClassName

typedef TalosControlManager EntityClassName

Define EntityClassName here rather than in the header file so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION.

Definition at line 46 of file admittance-controller-end-effector.cpp.

Function Documentation

◆ DEFINE_SIGNAL_INNER_FUNCTION() [1/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( dqRefDiff  ,
dynamicgraph::Vector   
)

Definition at line 170 of file coupled-admittance-controller.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [2/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( dqRefSum  ,
dynamicgraph::Vector   
)

Definition at line 155 of file coupled-admittance-controller.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [3/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( dz_ctrl  ,
double   
)

Definition at line 137 of file foot-force-difference-controller.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [4/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( dz_pos  ,
double   
)

Definition at line 171 of file foot-force-difference-controller.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [5/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( kinematics_computations  ,
dynamicgraph::Vector   
)

Definition at line 661 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [6/18]

DEFINE_SIGNAL_INNER_FUNCTION ( kinematics_computations  ,
int   
)

Definition at line 279 of file distribute-wrench.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [7/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( leftWeight  ,
dynamicgraph::Vector   
)

Definition at line 152 of file ft-wrist-calibration.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [8/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( qp_computations  ,
int   
)

Definition at line 438 of file distribute-wrench.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [9/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( rf  ,
MatrixHomogeneous   
)

Definition at line 125 of file dummy-walking-pattern-generator.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [10/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( rightWeight  ,
dynamicgraph::Vector   
)

Definition at line 120 of file ft-wrist-calibration.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [11/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( stateRef  ,
dynamicgraph::Vector   
)

Definition at line 157 of file com-admittance-controller.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [12/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( tauDesDiff  ,
dynamicgraph::Vector   
)

Definition at line 141 of file coupled-admittance-controller.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [13/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( tauDesSum  ,
dynamicgraph::Vector   
)

Definition at line 126 of file coupled-admittance-controller.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [14/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( tauDiff  ,
dynamicgraph::Vector   
)

Definition at line 113 of file coupled-admittance-controller.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [15/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( tauSum  ,
dynamicgraph::Vector   
)

Definition at line 100 of file coupled-admittance-controller.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [16/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( w_dq  ,
dynamicgraph::Vector   
)

Definition at line 173 of file admittance-controller-end-effector.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [17/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( w_force  ,
dynamicgraph::Vector   
)

Definition at line 145 of file admittance-controller-end-effector.cpp.

◆ DEFINE_SIGNAL_INNER_FUNCTION() [18/18]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION ( wrenches  ,
int   
)

Definition at line 247 of file simple-distribute-wrench.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [1/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( a_ac  ,
dynamicgraph::Vector   
)

Definition at line 1366 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [2/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( acomDes  ,
dynamicgraph::Vector   
)

Definition at line 173 of file dummy-walking-pattern-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [3/89]

DEFINE_SIGNAL_OUT_FUNCTION ( ankleWrenchLeft  ,
dynamicgraph::Vector   
)

Definition at line 507 of file distribute-wrench.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [4/89]

DEFINE_SIGNAL_OUT_FUNCTION ( ankleWrenchRight  ,
dynamicgraph::Vector   
)

Definition at line 524 of file distribute-wrench.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [5/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( c  ,
dynamicgraph::Vector   
)

Definition at line 93 of file dcm-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [6/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( comDes  ,
dynamicgraph::Vector   
)

Definition at line 137 of file dummy-walking-pattern-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [7/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( comRef  ,
dynamicgraph::Vector   
)

Definition at line 183 of file com-admittance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [8/89]

DEFINE_SIGNAL_OUT_FUNCTION ( copLeft  ,
dynamicgraph::Vector   
)

Definition at line 571 of file distribute-wrench.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [9/89]

DEFINE_SIGNAL_OUT_FUNCTION ( copRight  ,
dynamicgraph::Vector   
)

Definition at line 591 of file distribute-wrench.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [10/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dc  ,
dynamicgraph::Vector   
)

Definition at line 105 of file dcm-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [11/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dcm  ,
dynamicgraph::Vector   
)

Definition at line 85 of file dummy-dcm-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [12/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dcmDes  ,
dynamicgraph::Vector   
)

Definition at line 191 of file dummy-walking-pattern-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [13/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dcomRef  ,
dynamicgraph::Vector   
)

Definition at line 204 of file com-admittance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [14/89]

DEFINE_SIGNAL_OUT_FUNCTION ( ddcomRef  ,
dynamicgraph::Vector   
)

Definition at line 130 of file com-admittance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [15/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( ddx  ,
dynamicgraph::Vector   
)

Definition at line 316 of file nd-trajectory-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [16/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( ddx_ref  ,
dynamicgraph::Vector   
)

Definition at line 99 of file simple-pidd.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [17/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( delta_q  ,
dynamicgraph::Vector   
)

Definition at line 226 of file hip-flexibility-compensation.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [18/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dq  ,
dynamicgraph::Vector   
)

Definition at line 210 of file admittance-controller-end-effector.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [19/89]

DEFINE_SIGNAL_OUT_FUNCTION ( dqRef  ,
dynamicgraph::Vector   
)

Definition at line 87 of file joint-position-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [20/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dqRefL  ,
dynamicgraph::Vector   
)

Definition at line 186 of file coupled-admittance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [21/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dqRefR  ,
dynamicgraph::Vector   
)

Definition at line 199 of file coupled-admittance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [22/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dRP  ,
dynamicgraph::Vector   
)

Definition at line 85 of file ankle-admittance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [23/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( dx  ,
dynamicgraph::Vector   
)

Definition at line 288 of file nd-trajectory-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [24/89]

DEFINE_SIGNAL_OUT_FUNCTION ( dx_ref  ,
dynamicgraph::Vector   
)

Definition at line 87 of file simple-pid.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [25/89]

DEFINE_SIGNAL_OUT_FUNCTION ( emergencyStop  ,
bool   
)

Definition at line 670 of file distribute-wrench.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [26/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( euler  ,
dynamicgraph::Vector   
)

Definition at line 67 of file quat-to-euler.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [27/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( footLeftDes  ,
MatrixHomogeneous   
)

Definition at line 241 of file dummy-walking-pattern-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [28/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( footRightDes  ,
MatrixHomogeneous   
)

Definition at line 257 of file dummy-walking-pattern-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [29/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( gainLeft  ,
double   
)

Definition at line 266 of file foot-force-difference-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [30/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( gainRight  ,
double   
)

Definition at line 245 of file foot-force-difference-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [31/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( left_foot_force_out  ,
dynamicgraph::Vector   
)

Definition at line 123 of file ft-calibration.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [32/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( leftPitch  ,
dg::Vector   
)

Definition at line 144 of file ankle-joint-selector.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [33/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( leftRoll  ,
dg::Vector   
)

Definition at line 123 of file ankle-joint-selector.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [34/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( leftWristForceOut  ,
dynamicgraph::Vector   
)

Definition at line 216 of file ft-wrist-calibration.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [35/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( lf_xyzquat  ,
dynamicgraph::Vector   
)

Definition at line 939 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [36/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( nbJoints  ,
int   
)

Definition at line 118 of file example.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [37/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( omegaDes  ,
double   
)

Definition at line 288 of file dummy-walking-pattern-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [38/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( phaseDes  ,
int   
)

Definition at line 310 of file dummy-walking-pattern-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [39/89]

DEFINE_SIGNAL_OUT_FUNCTION ( q  ,
dynamicgraph::Vector   
)

apply feedback correction

convert from xyzquat to se3

find translation to apply to both feet to minimise distances to reference positions

two vectors define by left to right feet translation

angle betwin this two vectors projected in horizontal plane is the yaw drift

apply correction to cancel this drift

convert from xyzquat to se3

apply feedback correction

convert from xyzquat to se3

find translation to apply to both feet to minimise distances to reference positions

two vectors define by left to right feet translation

angle betwin this two vectors projected in horizontal plane is the yaw drift

apply correction to cancel this drift

convert from xyzquat to se3

Definition at line 77 of file state-transformation.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [40/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( q_cmd  ,
dynamicgraph::Vector   
)

Definition at line 270 of file hip-flexibility-compensation.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [41/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( q_imu  ,
dynamicgraph::Vector   
)

Definition at line 997 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [42/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( q_lf  ,
dynamicgraph::Vector   
)

Definition at line 965 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [43/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( q_rf  ,
dynamicgraph::Vector   
)

Definition at line 981 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [44/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( qRef  ,
dynamicgraph::Vector   
)

Definition at line 137 of file simple-admittance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [45/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( quaternion  ,
dynamicgraph::Vector   
)

Definition at line 67 of file euler-to-quat.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [46/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( referenceFrame  ,
MatrixHomogeneous   
)

Definition at line 96 of file simple-reference-frame.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [47/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( rf_xyzquat  ,
dynamicgraph::Vector   
)

Definition at line 952 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [48/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( rhoDes  ,
double   
)

Definition at line 299 of file dummy-walking-pattern-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [49/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( right_foot_force_out  ,
dynamicgraph::Vector   
)

Definition at line 95 of file ft-calibration.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [50/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( rightPitch  ,
dg::Vector   
)

Definition at line 186 of file ankle-joint-selector.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [51/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( rightRoll  ,
dg::Vector   
)

Definition at line 165 of file ankle-joint-selector.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [52/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( rightWristForceOut  ,
dynamicgraph::Vector   
)

Definition at line 183 of file ft-wrist-calibration.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [53/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( selecLeft  ,
Flags   
)

Definition at line 97 of file ankle-joint-selector.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [54/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( selecRight  ,
Flags   
)

Definition at line 110 of file ankle-joint-selector.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [55/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( sout  ,
bool   
)

Definition at line 61 of file boolean-identity.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [56/89]

DEFINE_SIGNAL_OUT_FUNCTION ( sout  ,
int   
)

Definition at line 61 of file int-identity.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [57/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( sout  ,
MatrixHomogeneous   
)

Definition at line 68 of file pose-quaternion-to-matrix-homo.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [58/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( state  ,
dynamicgraph::Vector   
)

Definition at line 148 of file simple-state-integrator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [59/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( sum  ,
double   
)

Definition at line 100 of file example.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [60/89]

DEFINE_SIGNAL_OUT_FUNCTION ( surfaceWrenchLeft  ,
dynamicgraph::Vector   
)

Definition at line 541 of file distribute-wrench.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [61/89]

DEFINE_SIGNAL_OUT_FUNCTION ( surfaceWrenchRight  ,
dynamicgraph::Vector   
)

Definition at line 556 of file distribute-wrench.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [62/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( tau_filt  ,
dynamicgraph::Vector   
)

Definition at line 201 of file hip-flexibility-compensation.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [63/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( u  ,
dynamicgraph::Vector   
)

Definition at line 146 of file talos-control-manager.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [64/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( u_safe  ,
dynamicgraph::Vector   
)

Definition at line 215 of file talos-control-manager.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [65/89]

DEFINE_SIGNAL_OUT_FUNCTION ( v  ,
dynamicgraph::Vector   
)
  • Extract DC component by low pass filter and remove it*‍/

TODO

  • Extract DC component by low pass filter and remove it*‍/

TODO

Definition at line 117 of file state-transformation.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [66/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( v_ac  ,
dynamicgraph::Vector   
)

Definition at line 1355 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [67/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( v_flex  ,
dynamicgraph::Vector   
)

Definition at line 1322 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [68/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( v_gyr  ,
dynamicgraph::Vector   
)

Definition at line 1344 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [69/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( v_imu  ,
dynamicgraph::Vector   
)

Definition at line 1333 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [70/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( v_kin  ,
dynamicgraph::Vector   
)

Definition at line 1311 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [71/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( v_ref  ,
dynamicgraph::Vector   
)

Definition at line 81 of file simple-controller-6d.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [72/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( vcomDes  ,
dynamicgraph::Vector   
)

Definition at line 155 of file dummy-walking-pattern-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [73/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( vDes  ,
dynamicgraph::Vector   
)

Definition at line 115 of file ankle-admittance-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [74/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( velocity  ,
dynamicgraph::Vector   
)

Definition at line 171 of file simple-state-integrator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [75/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( vLeft  ,
dynamicgraph::Vector   
)

Definition at line 221 of file foot-force-difference-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [76/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( vRight  ,
dynamicgraph::Vector   
)

Definition at line 197 of file foot-force-difference-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [77/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( w_lf  ,
double   
)

Definition at line 1026 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [78/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( w_lf_filtered  ,
double   
)

Definition at line 1104 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [79/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( w_rf  ,
double   
)

Definition at line 1058 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [80/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( w_rf_filtered  ,
double   
)

Definition at line 1090 of file talos-base-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [81/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( waistDes  ,
MatrixHomogeneous   
)

Definition at line 273 of file dummy-walking-pattern-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [82/89]

DEFINE_SIGNAL_OUT_FUNCTION ( wrenchLeft  ,
dynamicgraph::Vector   
)

Definition at line 479 of file distribute-wrench.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [83/89]

DEFINE_SIGNAL_OUT_FUNCTION ( wrenchRef  ,
dynamicgraph::Vector   
)

Definition at line 190 of file dcm-com-controller.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [84/89]

DEFINE_SIGNAL_OUT_FUNCTION ( wrenchRight  ,
dynamicgraph::Vector   
)

Definition at line 493 of file distribute-wrench.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [85/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( x  ,
dynamicgraph::Vector   
)

Definition at line 196 of file nd-trajectory-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [86/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( yOut  ,
dynamicgraph::Vector   
)

Definition at line 67 of file saturation.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [87/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( zmp  ,
dynamicgraph::Vector   
)

Definition at line 185 of file simple-zmp-estimator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [88/89]

dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION ( zmpDes  ,
dynamicgraph::Vector   
)

Definition at line 208 of file dummy-walking-pattern-generator.cpp.

◆ DEFINE_SIGNAL_OUT_FUNCTION() [89/89]

DEFINE_SIGNAL_OUT_FUNCTION ( zmpRef  ,
dynamicgraph::Vector   
)

Definition at line 163 of file dcm-com-controller.cpp.

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [1/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( AdmittanceControllerEndEffector  ,
"AdmittanceControllerEndEffector"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [2/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( AnkleAdmittanceController  ,
"AnkleAdmittanceController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [3/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( AnkleJointSelector  ,
"AnkleJointSelector"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [4/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( BooleanIdentity  ,
"BooleanIdentity"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [5/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( ComAdmittanceController  ,
"ComAdmittanceController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [6/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( CoupledAdmittanceController  ,
"CoupledAdmittanceController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [7/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DcmComController  ,
"DcmComController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [8/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DcmController  ,
"DcmController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [9/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DcmEstimator  ,
"DcmEstimator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [10/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DelayVector  ,
"DelayVector"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [11/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DistributeWrench  ,
"DistributeWrench"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [12/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DummyDcmEstimator  ,
"DummyDcmEstimator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [13/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( DummyWalkingPatternGenerator  ,
"DummyWalkingPatternGenerator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [14/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( EulerToQuat  ,
"EulerToQuat"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [15/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( Example  ,
"Example"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [16/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( FootForceDifferenceController  ,
"FootForceDifferenceController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [17/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( FtCalibration  ,
"FtCalibration"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [18/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( FtWristCalibration  ,
"FtWristCalibration"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [19/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( HipFlexibilityCompensation  ,
"HipFlexibilityCompensation"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [20/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( IntIdentity  ,
"IntIdentity"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [21/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( JointPositionController  ,
"JointPositionController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [22/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( NdTrajectoryGenerator  ,
"NdTrajectoryGenerator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [23/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( PoseQuaternionToMatrixHomo  ,
"PoseQuaternionToMatrixHomo"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [24/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( QualisysClient  ,
"QualisysClient"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [25/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( QuatToEuler  ,
"QuatToEuler"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [26/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( RoundDoubleToInt  ,
"RoundDoubleToInt"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [27/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( Saturation  ,
"Saturation"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [28/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimpleAdmittanceController  ,
"SimpleAdmittanceController"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [29/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimpleController6d  ,
"SimpleController6d"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [30/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimpleDistributeWrench  ,
"SimpleDistributeWrench"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [31/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimplePID  ,
"SimplePID"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [32/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimplePIDD  ,
"SimplePIDD"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [33/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimpleReferenceFrame  ,
"SimpleReferenceFrame"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [34/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimpleStateIntegrator  ,
"SimpleStateIntegrator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [35/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( SimpleZmpEstimator  ,
"SimpleZmpEstimator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [36/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( StateTransformation  ,
"StateTransformation"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [37/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( TalosBaseEstimator  ,
"TalosBaseEstimator"   
)

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [38/38]

dynamicgraph::sot::talos_balance::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( TalosControlManager  ,
"TalosControlManager"   
)

◆ eulerMean()

double eulerMean ( double  a1,
double  a2 
)
inline

Multiply to quaternions stored in (w,x,y,z) format Rotate a point or a vector by a quaternion stored in (w,x,y,z) format Avoids singularity while taking the mean of euler angles

Definition at line 98 of file talos-base-estimator.cpp.

◆ matrixToRpy()

void matrixToRpy ( const Eigen::Matrix3d &  M,
Eigen::Vector3d &  rpy 
)

Convert from Transformation Matrix to Roll, Pitch, Yaw

Definition at line 59 of file talos-base-estimator.cpp.

◆ operator<<()

std::ostream& dynamicgraph::sot::talos_balance::operator<< ( std::ostream &  os,
const CtrlMode &  s 
)

Definition at line 71 of file talos-control-manager.hh.

◆ rpyToMatrix() [1/2]

void rpyToMatrix ( const Eigen::Vector3d &  rpy,
Eigen::Matrix3d &  R 
)

Convert from Roll, Pitch, Yaw to transformation Matrix.

Definition at line 55 of file talos-base-estimator.cpp.

◆ rpyToMatrix() [2/2]

void rpyToMatrix ( double  r,
double  p,
double  y,
Eigen::Matrix3d &  R 
)

Convert from Roll, Pitch, Yaw to transformation Matrix.

Definition at line 47 of file talos-base-estimator.cpp.

◆ se3Interp()

void se3Interp ( const pinocchio::SE3 &  s1,
const pinocchio::SE3 &  s2,
const double  alpha,
pinocchio::SE3 &  s12 
)

Compute s12 as an intermediate transform between s1 and s2 SE3 transforms

Definition at line 36 of file talos-base-estimator.cpp.

◆ wEulerMean()

double wEulerMean ( double  a1,
double  a2,
double  w1,
double  w2 
)
inline

Avoids singularity while taking the mean of euler angles

Definition at line 106 of file talos-base-estimator.cpp.