dynamicgraph::sot::ForceCompensationPlugin Class Reference

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

Inheritance diagram for dynamicgraph::sot::ForceCompensationPlugin:

Collaboration diagram for dynamicgraph::sot::ForceCompensationPlugin:

Public Types
typedef int	sotDummyType

Public Member Functions
virtual const std::string &	getClassName (void) const
	ForceCompensationPlugin (const std::string &name)
virtual	~ForceCompensationPlugin (void)
sotDummyType &	calibrationTriger (sotDummyType &dummy, int time)
Public Member Functions inherited from dynamicgraph::sot::ForceCompensation
	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)

Public Attributes
bool	calibrationStarted
dg::SignalPtr< dynamicgraph::Vector, int >	torsorSIN
dg::SignalPtr< MatrixRotation, int >	worldRhandSIN
dg::SignalPtr< MatrixRotation, int >	handRsensorSIN
dg::SignalPtr< dynamicgraph::Vector, int >	translationSensorComSIN
dg::SignalPtr< dynamicgraph::Vector, int >	gravitySIN
dg::SignalPtr< dynamicgraph::Vector, int >	precompensationSIN
dg::SignalPtr< dynamicgraph::Matrix, int >	gainSensorSIN
dg::SignalPtr< dynamicgraph::Vector, int >	deadZoneLimitSIN
dg::SignalPtr< dynamicgraph::Vector, int >	transSensorJointSIN
dg::SignalPtr< dynamicgraph::Matrix, int >	inertiaJointSIN
dg::SignalPtr< dynamicgraph::Vector, int >	velocitySIN
dg::SignalPtr< dynamicgraph::Vector, int >	accelerationSIN
dg::SignalTimeDependent< MatrixForce, int >	handXworldSOUT
dg::SignalTimeDependent< MatrixForce, int >	handVsensorSOUT
dg::SignalPtr< dynamicgraph::Vector, int >	torsorDeadZoneSIN
dg::SignalTimeDependent< MatrixForce, int >	sensorXhandSOUT
dg::SignalTimeDependent< dynamicgraph::Vector, int >	momentumSOUT
dg::SignalPtr< dynamicgraph::Vector, int >	momentumSIN
dg::SignalTimeDependent< dynamicgraph::Vector, int >	torsorCompensatedSOUT
dg::SignalTimeDependent< dynamicgraph::Vector, int >	torsorDeadZoneSOUT
dg::SignalTimeDependent< sotDummyType, int >	calibrationTrigerSOUT
Public Attributes inherited from dynamicgraph::sot::ForceCompensation
std::list< dynamicgraph::Vector >	torsorList
std::list< MatrixRotation >	rotationList

Static Public Attributes
static const std::string	CLASS_NAME

Additional Inherited Members
Static Public Member Functions inherited from dynamicgraph::sot::ForceCompensation
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)
Protected Attributes inherited from dynamicgraph::sot::ForceCompensation
bool	usingPrecompensation

Member Typedef Documentation

sotDummyType

typedef int dynamicgraph::sot::ForceCompensationPlugin::sotDummyType

Constructor & Destructor Documentation

ForceCompensationPlugin()

dynamicgraph::sot::ForceCompensationPlugin::ForceCompensationPlugin

(

const std::string &

name

)

~ForceCompensationPlugin()

virtual dynamicgraph::sot::ForceCompensationPlugin::~ForceCompensationPlugin ( void  )

virtual

Member Function Documentation

calibrationTriger()

sotDummyType& dynamicgraph::sot::ForceCompensationPlugin::calibrationTriger	(	sotDummyType &	dummy,
		int	time
	)

getClassName()

virtual const std::string& dynamicgraph::sot::ForceCompensationPlugin::getClassName ( void  ) const

inlinevirtual

Member Data Documentation

accelerationSIN

dg::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::accelerationSIN

calibrationStarted

bool dynamicgraph::sot::ForceCompensationPlugin::calibrationStarted

calibrationTrigerSOUT

dg::SignalTimeDependent<sotDummyType, int> dynamicgraph::sot::ForceCompensationPlugin::calibrationTrigerSOUT

CLASS_NAME

const std::string dynamicgraph::sot::ForceCompensationPlugin::CLASS_NAME

static

deadZoneLimitSIN

dg::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::deadZoneLimitSIN

gainSensorSIN

dg::SignalPtr<dynamicgraph::Matrix, int> dynamicgraph::sot::ForceCompensationPlugin::gainSensorSIN

gravitySIN

dg::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::gravitySIN

handRsensorSIN

dg::SignalPtr<MatrixRotation, int> dynamicgraph::sot::ForceCompensationPlugin::handRsensorSIN

handVsensorSOUT

dg::SignalTimeDependent<MatrixForce, int> dynamicgraph::sot::ForceCompensationPlugin::handVsensorSOUT

handXworldSOUT

dg::SignalTimeDependent<MatrixForce, int> dynamicgraph::sot::ForceCompensationPlugin::handXworldSOUT

inertiaJointSIN

dg::SignalPtr<dynamicgraph::Matrix, int> dynamicgraph::sot::ForceCompensationPlugin::inertiaJointSIN

momentumSIN

dg::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::momentumSIN

momentumSOUT

dg::SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::momentumSOUT

precompensationSIN

dg::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::precompensationSIN

sensorXhandSOUT

dg::SignalTimeDependent<MatrixForce, int> dynamicgraph::sot::ForceCompensationPlugin::sensorXhandSOUT

torsorCompensatedSOUT

dg::SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::torsorCompensatedSOUT

torsorDeadZoneSIN

dg::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::torsorDeadZoneSIN

torsorDeadZoneSOUT

dg::SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::torsorDeadZoneSOUT

torsorSIN

dg::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::torsorSIN

translationSensorComSIN

dg::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::translationSensorComSIN

transSensorJointSIN

dg::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::transSensorJointSIN

velocitySIN

dg::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ForceCompensationPlugin::velocitySIN

worldRhandSIN

dg::SignalPtr<MatrixRotation, int> dynamicgraph::sot::ForceCompensationPlugin::worldRhandSIN

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

• include/sot/dynamic-pinocchio/force-compensation.h