ddp_pyrene_actuator_solver.cpp File Reference

#include <dynamic-graph/factory.h>
#include <math.h>
#include <Eigen/Dense>
#include <sot/core/debug.hh>
#include <sot/torque_control/commands-helper.hh>
#include <sot/torque_control/ddp_pyrene_actuator_solver.hh>

Include dependency graph for ddp_pyrene_actuator_solver.cpp:

Go to the source code of this file.

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

Macros
#define	ALL_INPUT_SIGNALS
#define	ALL_OUTPUT_SIGNALS   m_tauSOUT
#define	DBGFILE   "/tmp/debug-ddp_pyrene_actuator_solver.dat"
#define	EIGEN_NO_MALLOC
#define	ODEBUG(x)
#define	ODEBUG3(x)   std::cout << x << std::endl
#define	ODEBUG4(x)
#define	ODEBUG4FULL(x)
#define	ODEBUG5(x)
#define	ODEBUG5FULL(x)
#define	RESETDEBUG4()
#define	RESETDEBUG5()

Functions
	DEFINE_SIGNAL_OUT_FUNCTION (tau, dynamicgraph::Vector)
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DdpPyreneActuatorSolver, "DdpPyreneActuatorSolver")

Macro Definition Documentation

ALL_INPUT_SIGNALS

#define ALL_INPUT_SIGNALS

Value:

  m_pos_desSIN << m_pos_joint_measureSIN << m_dx_joint_measureSIN \
               << m_tau_desSIN

Definition at line 70 of file ddp_pyrene_actuator_solver.cpp.

ALL_OUTPUT_SIGNALS

#define ALL_OUTPUT_SIGNALS   m_tauSOUT

Definition at line 74 of file ddp_pyrene_actuator_solver.cpp.

DBGFILE

#define DBGFILE   "/tmp/debug-ddp_pyrene_actuator_solver.dat"

Definition at line 33 of file ddp_pyrene_actuator_solver.cpp.

EIGEN_NO_MALLOC

#define EIGEN_NO_MALLOC

Definition at line 17 of file ddp_pyrene_actuator_solver.cpp.

ODEBUG

#define ODEBUG

(

x

)

Definition at line 29 of file ddp_pyrene_actuator_solver.cpp.

ODEBUG3

#define ODEBUG3

(

x

)

std::cout << x << std::endl

Definition at line 31 of file ddp_pyrene_actuator_solver.cpp.

ODEBUG4

#define ODEBUG4

(

x

)

Definition at line 59 of file ddp_pyrene_actuator_solver.cpp.

ODEBUG4FULL

#define ODEBUG4FULL

(

x

)

Definition at line 58 of file ddp_pyrene_actuator_solver.cpp.

ODEBUG5

#define ODEBUG5

(

x

)

Value:

  {                                              \
    std::ofstream DebugFile;                     \
    DebugFile.open(DBGFILE, std::ofstream::app); \
    DebugFile << x << std::endl;                 \
    DebugFile.close();                           \
  }

Definition at line 49 of file ddp_pyrene_actuator_solver.cpp.

ODEBUG5FULL

#define ODEBUG5FULL

(

x

)

Value:

  {                                                                  \
    std::ofstream DebugFile;                                         \
    DebugFile.open(DBGFILE, std::ofstream::app);                     \
    DebugFile << __FILE__ << ":" << __FUNCTION__ << "(#" << __LINE__ \
              << "):" << x << std::endl;                             \
    DebugFile.close();                                               \
  }

Definition at line 41 of file ddp_pyrene_actuator_solver.cpp.

RESETDEBUG4

#define RESETDEBUG4

(

)

Definition at line 57 of file ddp_pyrene_actuator_solver.cpp.

RESETDEBUG5

#define RESETDEBUG5

(

)

Value:

  {                                              \
    std::ofstream DebugFile;                     \
    DebugFile.open(DBGFILE, std::ofstream::out); \
    DebugFile.close();                           \
  }

Definition at line 35 of file ddp_pyrene_actuator_solver.cpp.