sobec::Flex Class Reference

#include <sobec/flexibility_compensation.hpp>

Public Member Functions
	Flex ()
	Flex (const FlexSettings &settings)
void	initialize (const FlexSettings &settings)
const eVector2 &	computeDeflection (const eArray2 &torques, const eArray2 &delta0, const eArray2 &stiffness, const eArray2 &damping, const double dt)
void	correctDeflections (const eVector2 &leftFlexingTorque, const eVector2 &rightFlexingTorque, eVectorX &q, eVectorX &dq)
void	correctEstimatedDeflections (const eVectorX &desiredTorque, eVectorX &q, eVectorX &dq)
const FlexSettings &	getSettings ()
void	resetLeftFlex0 ()
void	resetRightFlex0 ()
void	setLeftFlex0 (const eVector2 &delta0)
void	setRightFlex0 (const eVector2 &delta0)

Constructor & Destructor Documentation

Flex() [1/2]

sobec::Flex::Flex

(

)

Flex() [2/2]

sobec::Flex::Flex

(

const FlexSettings &

settings

)

Member Function Documentation

computeDeflection()

const eVector2 & sobec::Flex::computeDeflection	(	const eArray2 &	torques,
		const eArray2 &	delta0,
		const eArray2 &	stiffness,
		const eArray2 &	damping,
		const double	dt
	)

Computes the deflection expected for certain flexing torque according to:

delta = (delta0 * damping - torques * dt) * inverse(stiffness * dt + damping)

correctDeflections()

void sobec::Flex::correctDeflections	(	const eVector2 &	leftFlexingTorque,
		const eVector2 &	rightFlexingTorque,
		eVectorX &	q,
		eVectorX &	dq
	)

Arguments:

leftFlexTorque and rightFlexingTorque are composed as {pitch_torque, roll_torque}

q and dq are the robot posture and velocities without the freeFlyer part.

leftHipIndices and rightHipIndices indicate the hip joints for both q, and dq.

Todo:

: Do we include an option to choose between filtered / not filtered?

correctEstimatedDeflections()

void sobec::Flex::correctEstimatedDeflections	(	const eVectorX &	desiredTorque,
		eVectorX &	q,
		eVectorX &	dq
	)

Arguments:

desired torque are the values commanded by the controller.

q and dq are the robot posture and velocities without the freeFlyer part.

leftHipIndices and rightHipIndices indicate the hip joints for both q, and dq.

getSettings()

const FlexSettings& sobec::Flex::getSettings ( )

inline

initialize()

void sobec::Flex::initialize

(

const FlexSettings &

settings

)

resetLeftFlex0()

void sobec::Flex::resetLeftFlex0 ( )

inline

resetRightFlex0()

void sobec::Flex::resetRightFlex0 ( )

inline

setLeftFlex0()

void sobec::Flex::setLeftFlex0 ( const eVector2 &  delta0 )

inline

setRightFlex0()

void sobec::Flex::setRightFlex0 ( const eVector2 &  delta0 )

inline

---

The documentation for this class was generated from the following files:

• include/sobec/flexibility_compensation.hpp
• src/flexibility_compensation.cpp