current-controller.cpp File Reference

#include <dynamic-graph/factory.h>
#include <sot/core/debug.hh>
#include <sot/torque_control/commands-helper.hh>
#include <sot/torque_control/current-controller.hh>
#include <tsid/utils/statistics.hpp>
#include <tsid/utils/stop-watch.hpp>

Include dependency graph for current-controller.cpp:

Go to the source code of this file.

Namespaces
	dynamicgraph
	to read text file
	dynamicgraph::sot
	dynamicgraph::sot::torque_control

Macros
#define	INPUT_SIGNALS
#define	OUTPUT_SIGNALS
#define	SAFETY_SIGNALS   m_i_maxSIN << m_u_maxSIN << m_u_saturationSIN

Functions
	DEFINE_SIGNAL_OUT_FUNCTION (dead_zone_compensation, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (i_errors, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (i_errors_ll_wo_bemf, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (i_low_level, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (i_real, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (i_sensor_offsets_real_out, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (u, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (u_safe, dynamicgraph::Vector)
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (CurrentController, "CurrentController")

Macro Definition Documentation

INPUT_SIGNALS

#define INPUT_SIGNALS

Value:

  m_i_desSIN << m_percentage_dead_zone_compensationSIN << SAFETY_SIGNALS \
             << m_i_max_dead_zone_compensationSIN << m_dqSIN             \
             << m_bemf_factorSIN << m_in_out_gainSIN << m_i_measuredSIN  \
             << m_dead_zone_offsetsSIN << m_i_sens_gainsSIN              \
             << m_i_sensor_offsets_low_levelSIN                          \
             << m_i_sensor_offsets_real_inSIN << m_kp_currentSIN         \
             << m_ki_currentSIN << m_percentage_bemf_compensationSIN

Definition at line 24 of file current-controller.cpp.

OUTPUT_SIGNALS

#define OUTPUT_SIGNALS

Value:

  m_uSOUT << m_u_safeSOUT << m_i_realSOUT << m_i_low_levelSOUT \
          << m_dead_zone_compensationSOUT << m_i_errorsSOUT    \
          << m_i_errors_ll_wo_bemfSOUT << m_i_sensor_offsets_real_outSOUT

Definition at line 32 of file current-controller.cpp.

SAFETY_SIGNALS

#define SAFETY_SIGNALS   m_i_maxSIN << m_u_maxSIN << m_u_saturationSIN

Definition at line 23 of file current-controller.cpp.