control-manager.cpp File Reference

#include <dynamic-graph/factory.h>
#include <sot/core/debug.hh>
#include <sot/torque_control/commands-helper.hh>
#include <sot/torque_control/control-manager.hh>
#include <tsid/robots/robot-wrapper.hpp>
#include <tsid/utils/statistics.hpp>
#include <tsid/utils/stop-watch.hpp>

Include dependency graph for control-manager.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   m_uSOUT << m_u_safeSOUT
#define	PROFILE_DYNAMIC_GRAPH_PERIOD   "Control period "
#define	PROFILE_PWM_DESIRED_COMPUTATION   "Control manager "

Functions
	DEFINE_SIGNAL_OUT_FUNCTION (u, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (u_safe, dynamicgraph::Vector)
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ControlManager, "ControlManager")

Macro Definition Documentation

INPUT_SIGNALS

#define INPUT_SIGNALS

Value:

  m_i_maxSIN << m_u_maxSIN << m_tau_maxSIN << m_tauSIN << m_tau_predictedSIN \
             << m_i_measuredSIN

Definition at line 32 of file control-manager.cpp.

OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_uSOUT << m_u_safeSOUT

Definition at line 35 of file control-manager.cpp.

PROFILE_DYNAMIC_GRAPH_PERIOD

#define PROFILE_DYNAMIC_GRAPH_PERIOD   "Control period "

Definition at line 29 of file control-manager.cpp.

PROFILE_PWM_DESIRED_COMPUTATION

#define PROFILE_PWM_DESIRED_COMPUTATION   "Control manager "

Definition at line 27 of file control-manager.cpp.