Classes
struct	ForceLimits

struct	ForceUtil
	Map from force names to force ids. More...

struct	JointLimits

struct	JointUtil
	Map from joint names to joint ids. More...

Enumerations
enum	ForceID { FORCE_ID_RIGHT_FOOT = 0, FORCE_ID_LEFT_FOOT = 1, FORCE_ID_RIGHT_HAND = 2, FORCE_ID_LEFT_HAND = 3 }

Functions
bool	base_se3_to_sot (dg::sot::ConstRefVector pos, dg::sot::ConstRefMatrix R, dg::sot::RefVector q_sot)

bool	base_se3_to_sot (dynamicgraph::sot::ConstRefVector pos, dynamicgraph::sot::ConstRefMatrix R, dynamicgraph::sot::RefVector q_sot)

bool	base_sot_to_urdf (dg::sot::ConstRefVector q_sot, dg::sot::RefVector q_urdf)

bool	base_sot_to_urdf (dynamicgraph::sot::ConstRefVector q_sot, dynamicgraph::sot::RefVector q_urdf)

bool	base_urdf_to_sot (dg::sot::ConstRefVector q_urdf, dg::sot::RefVector q_sot)

bool	base_urdf_to_sot (dynamicgraph::sot::ConstRefVector q_urdf, dynamicgraph::sot::RefVector q_sot)

bool	config_sot_to_urdf (dg::sot::ConstRefVector q_sot, dg::sot::RefVector q_urdf)

bool	config_sot_to_urdf (dynamicgraph::sot::ConstRefVector q_sot, dynamicgraph::sot::RefVector q_urdf)

bool	config_urdf_to_sot (dg::sot::ConstRefVector q_urdf, dg::sot::RefVector q_sot)

bool	config_urdf_to_sot (dynamicgraph::sot::ConstRefVector q_urdf, dynamicgraph::sot::RefVector q_sot)

bool	joints_sot_to_urdf (dynamicgraph::sot::ConstRefVector q_sot, dynamicgraph::sot::RefVector q_urdf)

bool	joints_sot_to_urdf (dg::sot::ConstRefVector q_sot, dg::sot::RefVector q_urdf)

bool	joints_urdf_to_sot (dg::sot::ConstRefVector q_urdf, dg::sot::RefVector q_sot)

bool	joints_urdf_to_sot (dynamicgraph::sot::ConstRefVector q_urdf, dynamicgraph::sot::RefVector q_sot)

bool	velocity_sot_to_urdf (dg::sot::ConstRefVector v_sot, dg::sot::RefVector v_urdf)

bool	velocity_sot_to_urdf (dynamicgraph::sot::ConstRefVector v_sot, dynamicgraph::sot::RefVector v_urdf)

bool	velocity_urdf_to_sot (dg::sot::ConstRefVector v_urdf, dg::sot::RefVector v_sot)

bool	velocity_urdf_to_sot (dynamicgraph::sot::ConstRefVector v_urdf, dynamicgraph::sot::RefVector v_sot)

Variables
const double	DEFAULT_MAX_CURRENT = 5
	max joint position tracking error [rad] More...

const double	DEFAULT_MAX_DELTA_Q = 0.1

const double	IMU_XYZ [3] = { -0.13, 0.0, 0.118}
	max CURRENT (double in [0 Amp, 20 Amp]) More...

const double	LEFT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE = 0.65

const double	LEFT_FOOT_FORCE_SENSOR_XYZ [3] = {0.0, 0.0, -0.0}

const double	LEFT_FOOT_SOLE_XYZ [3] = {0.0, 0.0, -0.107}

const double	LEFT_HAND_FORCE_SENSOR_MASS_PERCENTAGE = 0.75

const double	LEFT_HAND_FORCE_SENSOR_XYZ [3] = {0.005, 0.0, -0.051}

const double	LEFT_HAND_FORCE_SENSOR_Z_ROTATION = -0.5 * M_PI

const double	LEFT_HAND_GRIPPER_XYZ [3] = {0.0, 0.0, 0.02025}

const double	RIGHT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE = 0.65
	Percentage of mass of the link that is measured by the F/T sensors. More...

const double	RIGHT_FOOT_FORCE_SENSOR_XYZ [3] = {0.0, 0.0, -0.0}
	Position of the force/torque sensors w.r.t. the frame of the hosting link. More...

const double	RIGHT_FOOT_SOLE_XYZ [3] = {0.0, 0.0, -0.107}
	Position of the foot soles w.r.t. the frame of the foot. More...

const double	RIGHT_HAND_FORCE_SENSOR_MASS_PERCENTAGE = 0.75

const double	RIGHT_HAND_FORCE_SENSOR_XYZ [3] = {0.0, 0.0, -0.051}

const double	RIGHT_HAND_FORCE_SENSOR_Z_ROTATION = -0.5 * M_PI
	Rotation angle around Z axis of the force/torque sensors w.r.t. the frame of the hosting link. More...

const double	RIGHT_HAND_GRIPPER_XYZ [3] = {0.0, 0.0, -0.02875}
	Position of the hand grippers w.r.t. the frame of the hand. More...

Enumeration Type Documentation

◆ ForceID

enum ForceID

Enumerator
FORCE_ID_RIGHT_FOOT
FORCE_ID_LEFT_FOOT
FORCE_ID_RIGHT_HAND
FORCE_ID_LEFT_HAND

Definition at line 246 of file talos-common.hh.

Function Documentation

◆ base_se3_to_sot() [1/2]

bool dynamicgraph::sot::torque_control::base_se3_to_sot	(	dg::sot::ConstRefVector	pos,
		dg::sot::ConstRefMatrix	R,
		dg::sot::RefVector	q_sot
	)

Definition at line 17 of file talos-common.cpp.

◆ base_se3_to_sot() [2/2]

bool dynamicgraph::sot::torque_control::base_se3_to_sot	(	dynamicgraph::sot::ConstRefVector	pos,
		dynamicgraph::sot::ConstRefMatrix	R,
		dynamicgraph::sot::RefVector	q_sot
	)

◆ base_sot_to_urdf() [1/2]

bool dynamicgraph::sot::torque_control::base_sot_to_urdf	(	dg::sot::ConstRefVector	q_sot,
		dg::sot::RefVector	q_urdf
	)

Definition at line 55 of file talos-common.cpp.

◆ base_sot_to_urdf() [2/2]

bool dynamicgraph::sot::torque_control::base_sot_to_urdf	(	dynamicgraph::sot::ConstRefVector	q_sot,
		dynamicgraph::sot::RefVector	q_urdf
	)

◆ base_urdf_to_sot() [1/2]

bool dynamicgraph::sot::torque_control::base_urdf_to_sot	(	dg::sot::ConstRefVector	q_urdf,
		dg::sot::RefVector	q_sot
	)

Definition at line 43 of file talos-common.cpp.

◆ base_urdf_to_sot() [2/2]

bool dynamicgraph::sot::torque_control::base_urdf_to_sot	(	dynamicgraph::sot::ConstRefVector	q_urdf,
		dynamicgraph::sot::RefVector	q_sot
	)

◆ config_sot_to_urdf() [1/2]

bool dynamicgraph::sot::torque_control::config_sot_to_urdf	(	dg::sot::ConstRefVector	q_sot,
		dg::sot::RefVector	q_urdf
	)

Definition at line 147 of file talos-common.cpp.

◆ config_sot_to_urdf() [2/2]

bool dynamicgraph::sot::torque_control::config_sot_to_urdf	(	dynamicgraph::sot::ConstRefVector	q_sot,
		dynamicgraph::sot::RefVector	q_urdf
	)

◆ config_urdf_to_sot() [1/2]

bool dynamicgraph::sot::torque_control::config_urdf_to_sot	(	dg::sot::ConstRefVector	q_urdf,
		dg::sot::RefVector	q_sot
	)

Definition at line 78 of file talos-common.cpp.

◆ config_urdf_to_sot() [2/2]

bool dynamicgraph::sot::torque_control::config_urdf_to_sot	(	dynamicgraph::sot::ConstRefVector	q_urdf,
		dynamicgraph::sot::RefVector	q_sot
	)

◆ joints_sot_to_urdf() [1/2]

bool dynamicgraph::sot::torque_control::joints_sot_to_urdf	(	dynamicgraph::sot::ConstRefVector	q_sot,
		dynamicgraph::sot::RefVector	q_urdf
	)

◆ joints_sot_to_urdf() [2/2]

bool dynamicgraph::sot::torque_control::joints_sot_to_urdf	(	dg::sot::ConstRefVector	q_sot,
		dg::sot::RefVector	q_urdf
	)

Definition at line 352 of file talos-common.cpp.

◆ joints_urdf_to_sot() [1/2]

bool dynamicgraph::sot::torque_control::joints_urdf_to_sot	(	dg::sot::ConstRefVector	q_urdf,
		dg::sot::RefVector	q_sot
	)

Definition at line 310 of file talos-common.cpp.

◆ joints_urdf_to_sot() [2/2]

bool dynamicgraph::sot::torque_control::joints_urdf_to_sot	(	dynamicgraph::sot::ConstRefVector	q_urdf,
		dynamicgraph::sot::RefVector	q_sot
	)

◆ velocity_sot_to_urdf() [1/2]

bool dynamicgraph::sot::torque_control::velocity_sot_to_urdf	(	dg::sot::ConstRefVector	v_sot,
		dg::sot::RefVector	v_urdf
	)

Definition at line 259 of file talos-common.cpp.

◆ velocity_sot_to_urdf() [2/2]

bool dynamicgraph::sot::torque_control::velocity_sot_to_urdf	(	dynamicgraph::sot::ConstRefVector	v_sot,
		dynamicgraph::sot::RefVector	v_urdf
	)

◆ velocity_urdf_to_sot() [1/2]

bool dynamicgraph::sot::torque_control::velocity_urdf_to_sot	(	dg::sot::ConstRefVector	v_urdf,
		dg::sot::RefVector	v_sot
	)

Definition at line 208 of file talos-common.cpp.

◆ velocity_urdf_to_sot() [2/2]

bool dynamicgraph::sot::torque_control::velocity_urdf_to_sot	(	dynamicgraph::sot::ConstRefVector	v_urdf,
		dynamicgraph::sot::RefVector	v_sot
	)

Variable Documentation

◆ DEFAULT_MAX_CURRENT

const double DEFAULT_MAX_CURRENT = 5

max joint position tracking error [rad]

Definition at line 46 of file talos-common.hh.

◆ DEFAULT_MAX_DELTA_Q

const double DEFAULT_MAX_DELTA_Q = 0.1

Definition at line 44 of file talos-common.hh.

◆ IMU_XYZ

const double IMU_XYZ[3] = { -0.13, 0.0, 0.118}

max CURRENT (double in [0 Amp, 20 Amp])

Position of the IMU w.r.t. the frame of the hosting link (torso)

Definition at line 62 of file talos-common.hh.

◆ LEFT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE

const double LEFT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE = 0.65

Definition at line 84 of file talos-common.hh.

◆ LEFT_FOOT_FORCE_SENSOR_XYZ

const double LEFT_FOOT_FORCE_SENSOR_XYZ[3] = {0.0, 0.0, -0.0}

Definition at line 66 of file talos-common.hh.

◆ LEFT_FOOT_SOLE_XYZ

const double LEFT_FOOT_SOLE_XYZ[3] = {0.0, 0.0, -0.107}

Definition at line 76 of file talos-common.hh.

◆ LEFT_HAND_FORCE_SENSOR_MASS_PERCENTAGE

const double LEFT_HAND_FORCE_SENSOR_MASS_PERCENTAGE = 0.75

Definition at line 86 of file talos-common.hh.

◆ LEFT_HAND_FORCE_SENSOR_XYZ

const double LEFT_HAND_FORCE_SENSOR_XYZ[3] = {0.005, 0.0, -0.051}

Definition at line 68 of file talos-common.hh.

◆ LEFT_HAND_FORCE_SENSOR_Z_ROTATION

const double LEFT_HAND_FORCE_SENSOR_Z_ROTATION = -0.5 * M_PI

Definition at line 72 of file talos-common.hh.

◆ LEFT_HAND_GRIPPER_XYZ

const double LEFT_HAND_GRIPPER_XYZ[3] = {0.0, 0.0, 0.02025}

Definition at line 80 of file talos-common.hh.

◆ RIGHT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE

const double RIGHT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE = 0.65

Percentage of mass of the link that is measured by the F/T sensors.

Definition at line 83 of file talos-common.hh.

◆ RIGHT_FOOT_FORCE_SENSOR_XYZ

const double RIGHT_FOOT_FORCE_SENSOR_XYZ[3] = {0.0, 0.0, -0.0}

Position of the force/torque sensors w.r.t. the frame of the hosting link.

Definition at line 65 of file talos-common.hh.

◆ RIGHT_FOOT_SOLE_XYZ

const double RIGHT_FOOT_SOLE_XYZ[3] = {0.0, 0.0, -0.107}

Position of the foot soles w.r.t. the frame of the foot.

Definition at line 75 of file talos-common.hh.

◆ RIGHT_HAND_FORCE_SENSOR_MASS_PERCENTAGE

const double RIGHT_HAND_FORCE_SENSOR_MASS_PERCENTAGE = 0.75

Definition at line 85 of file talos-common.hh.

◆ RIGHT_HAND_FORCE_SENSOR_XYZ

const double RIGHT_HAND_FORCE_SENSOR_XYZ[3] = {0.0, 0.0, -0.051}

Definition at line 67 of file talos-common.hh.

◆ RIGHT_HAND_FORCE_SENSOR_Z_ROTATION

const double RIGHT_HAND_FORCE_SENSOR_Z_ROTATION = -0.5 * M_PI

Rotation angle around Z axis of the force/torque sensors w.r.t. the frame of the hosting link.

Definition at line 71 of file talos-common.hh.

◆ RIGHT_HAND_GRIPPER_XYZ

const double RIGHT_HAND_GRIPPER_XYZ[3] = {0.0, 0.0, -0.02875}

Position of the hand grippers w.r.t. the frame of the hand.

Definition at line 79 of file talos-common.hh.

Classes

Enumerations

Functions

Variables