Public Member Functions | Static Public Member Functions | Public Attributes | Protected Attributes | List of all members
dynamicgraph::sot::ForceCompensation Class Reference

#include <sot/dynamic-pinocchio/force-compensation.h>

Inheritance diagram for dynamicgraph::sot::ForceCompensation:
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Public Member Functions

 ForceCompensation (void)
 
void clearCalibration (void)
 
void addCalibrationValue (const dynamicgraph::Vector &torsor, const MatrixRotation &worldRhand)
 
dynamicgraph::Vector calibrateTransSensorCom (const dynamicgraph::Vector &gravity, const MatrixRotation &handRsensor)
 
dynamicgraph::Vector calibrateGravity (const MatrixRotation &handRsensor, bool precompensationCalibration=false, const MatrixRotation &hand0Rsensor=I3)
 

Static Public Member Functions

static MatrixForce & computeHandXworld (const MatrixRotation &worldRhand, const dynamicgraph::Vector &transSensorCom, MatrixForce &res)
 
static MatrixForce & computeHandVsensor (const MatrixRotation &sensorRhand, MatrixForce &res)
 
static MatrixForce & computeSensorXhand (const MatrixRotation &sensorRhand, const dynamicgraph::Vector &transSensorCom, MatrixForce &res)
 
static dynamicgraph::Vector & computeTorsorCompensated (const dynamicgraph::Vector &torqueInput, const dynamicgraph::Vector &torquePrecompensation, const dynamicgraph::Vector &gravity, const MatrixForce &handXworld, const MatrixForce &handVsensor, const dynamicgraph::Matrix &gainSensor, const dynamicgraph::Vector &momentum, dynamicgraph::Vector &res)
 
static dynamicgraph::Vector & crossProduct_V_F (const dynamicgraph::Vector &velocity, const dynamicgraph::Vector &force, dynamicgraph::Vector &res)
 
static dynamicgraph::Vector & computeMomentum (const dynamicgraph::Vector &velocity, const dynamicgraph::Vector &acceleration, const MatrixForce &sensorXhand, const dynamicgraph::Matrix &inertiaJoint, dynamicgraph::Vector &res)
 
static dynamicgraph::Vector & computeDeadZone (const dynamicgraph::Vector &torqueInput, const dynamicgraph::Vector &deadZoneLimit, dynamicgraph::Vector &res)
 

Public Attributes

std::list< dynamicgraph::Vector > torsorList
 
std::list< MatrixRotation > rotationList
 

Protected Attributes

bool usingPrecompensation
 

Constructor & Destructor Documentation

◆ ForceCompensation()

dynamicgraph::sot::ForceCompensation::ForceCompensation ( void  )

Member Function Documentation

◆ addCalibrationValue()

void dynamicgraph::sot::ForceCompensation::addCalibrationValue ( const dynamicgraph::Vector &  torsor,
const MatrixRotation &  worldRhand 
)

◆ calibrateGravity()

dynamicgraph::Vector dynamicgraph::sot::ForceCompensation::calibrateGravity ( const MatrixRotation &  handRsensor,
bool  precompensationCalibration = false,
const MatrixRotation &  hand0Rsensor = I3 
)

◆ calibrateTransSensorCom()

dynamicgraph::Vector dynamicgraph::sot::ForceCompensation::calibrateTransSensorCom ( const dynamicgraph::Vector &  gravity,
const MatrixRotation &  handRsensor 
)

◆ clearCalibration()

void dynamicgraph::sot::ForceCompensation::clearCalibration ( void  )

◆ computeDeadZone()

static dynamicgraph::Vector& dynamicgraph::sot::ForceCompensation::computeDeadZone ( const dynamicgraph::Vector &  torqueInput,
const dynamicgraph::Vector &  deadZoneLimit,
dynamicgraph::Vector &  res 
)
static

◆ computeHandVsensor()

static MatrixForce& dynamicgraph::sot::ForceCompensation::computeHandVsensor ( const MatrixRotation &  sensorRhand,
MatrixForce &  res 
)
static

◆ computeHandXworld()

static MatrixForce& dynamicgraph::sot::ForceCompensation::computeHandXworld ( const MatrixRotation &  worldRhand,
const dynamicgraph::Vector &  transSensorCom,
MatrixForce &  res 
)
static

◆ computeMomentum()

static dynamicgraph::Vector& dynamicgraph::sot::ForceCompensation::computeMomentum ( const dynamicgraph::Vector &  velocity,
const dynamicgraph::Vector &  acceleration,
const MatrixForce &  sensorXhand,
const dynamicgraph::Matrix &  inertiaJoint,
dynamicgraph::Vector &  res 
)
static

◆ computeSensorXhand()

static MatrixForce& dynamicgraph::sot::ForceCompensation::computeSensorXhand ( const MatrixRotation &  sensorRhand,
const dynamicgraph::Vector &  transSensorCom,
MatrixForce &  res 
)
static

◆ computeTorsorCompensated()

static dynamicgraph::Vector& dynamicgraph::sot::ForceCompensation::computeTorsorCompensated ( const dynamicgraph::Vector &  torqueInput,
const dynamicgraph::Vector &  torquePrecompensation,
const dynamicgraph::Vector &  gravity,
const MatrixForce &  handXworld,
const MatrixForce &  handVsensor,
const dynamicgraph::Matrix &  gainSensor,
const dynamicgraph::Vector &  momentum,
dynamicgraph::Vector &  res 
)
static

◆ crossProduct_V_F()

static dynamicgraph::Vector& dynamicgraph::sot::ForceCompensation::crossProduct_V_F ( const dynamicgraph::Vector &  velocity,
const dynamicgraph::Vector &  force,
dynamicgraph::Vector &  res 
)
static

Member Data Documentation

◆ rotationList

std::list<MatrixRotation> dynamicgraph::sot::ForceCompensation::rotationList

◆ torsorList

std::list<dynamicgraph::Vector> dynamicgraph::sot::ForceCompensation::torsorList

◆ usingPrecompensation

bool dynamicgraph::sot::ForceCompensation::usingPrecompensation
protected
The documentation for this class was generated from the following file: