#include "sot/talos_balance/simple-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 simple-distribute-wrench.cpp:

Namespaces
	dynamicgraph

	dynamicgraph::sot

	dynamicgraph::sot::talos_balance

Macros
#define	INNER_SIGNALS m_kinematics_computations << m_wrenches

#define	INPUT_SIGNALS m_wrenchDesSIN << m_qSIN << m_rhoSIN << m_phaseSIN

#define	OUTPUT_SIGNALS

#define	PROFILE_SIMPLE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS "SimpleDistributeWrench: kinematics computations "

#define	PROFILE_SIMPLE_DISTRIBUTE_WRENCH_WRENCHES_COMPUTATIONS "SimpleDistributeWrench: wrenches computations "

Functions
	DEFINE_SIGNAL_INNER_FUNCTION (kinematics_computations, int)

	DEFINE_SIGNAL_INNER_FUNCTION (wrenches, 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 (SimpleDistributeWrench, "SimpleDistributeWrench")

Macro Definition Documentation

◆ INNER_SIGNALS

#define INNER_SIGNALS m_kinematics_computations << m_wrenches

Definition at line 44 of file simple-distribute-wrench.cpp.

◆ INPUT_SIGNALS

#define INPUT_SIGNALS m_wrenchDesSIN << m_qSIN << m_rhoSIN << m_phaseSIN

Definition at line 42 of file simple-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 46 of file simple-distribute-wrench.cpp.

◆ PROFILE_SIMPLE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS

#define PROFILE_SIMPLE_DISTRIBUTE_WRENCH_KINEMATICS_COMPUTATIONS "SimpleDistributeWrench: kinematics computations "

Definition at line 37 of file simple-distribute-wrench.cpp.

◆ PROFILE_SIMPLE_DISTRIBUTE_WRENCH_WRENCHES_COMPUTATIONS

#define PROFILE_SIMPLE_DISTRIBUTE_WRENCH_WRENCHES_COMPUTATIONS "SimpleDistributeWrench: wrenches computations "

Definition at line 39 of file simple-distribute-wrench.cpp.

Namespaces