joint-torque-controller.cpp File Reference

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

Include dependency graph for joint-torque-controller.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_uSOUT << m_torque_error_integralSOUT << m_smoothSignDqSOUT
#define	ESTIMATOR_INPUT_SIGNALS
#define	MODEL_INPUT_SIGNALS
#define	TORQUE_CONTROL_INPUT_SIGNALS
#define	TORQUE_INTEGRAL_INPUT_SIGNALS   m_KiTorqueSIN << m_torque_integral_saturationSIN
#define	VEL_CONTROL_INPUT_SIGNALS   m_dq_desSIN << m_KdVelSIN << m_KiVelSIN

Functions
	DEFINE_SIGNAL_OUT_FUNCTION (smoothSignDq, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (torque_error_integral, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (u, dynamicgraph::Vector)
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (JointTorqueController, "JointTorqueController")

Macro Definition Documentation

ALL_INPUT_SIGNALS

#define ALL_INPUT_SIGNALS

Value:

  ESTIMATOR_INPUT_SIGNALS << TORQUE_INTEGRAL_INPUT_SIGNALS \
                          << TORQUE_CONTROL_INPUT_SIGNALS  \
                          << VEL_CONTROL_INPUT_SIGNALS << MODEL_INPUT_SIGNALS

Definition at line 37 of file joint-torque-controller.cpp.

ALL_OUTPUT_SIGNALS

#define ALL_OUTPUT_SIGNALS   m_uSOUT << m_torque_error_integralSOUT << m_smoothSignDqSOUT

Definition at line 41 of file joint-torque-controller.cpp.

ESTIMATOR_INPUT_SIGNALS

#define ESTIMATOR_INPUT_SIGNALS

Value:

  m_jointsPositionsSIN << m_jointsVelocitiesSIN << m_jointsAccelerationsSIN \
                       << m_jointsTorquesSIN << m_jointsTorquesDerivativeSIN

Definition at line 26 of file joint-torque-controller.cpp.

MODEL_INPUT_SIGNALS

#define MODEL_INPUT_SIGNALS

Value:

  m_motorParameterKt_pSIN << m_motorParameterKt_nSIN \
                          << m_motorParameterKf_pSIN \
                          << m_motorParameterKf_nSIN \
                          << m_motorParameterKv_pSIN \
                          << m_motorParameterKv_nSIN \
                          << m_motorParameterKa_pSIN \
                          << m_motorParameterKa_nSIN << m_polySignDqSIN

Definition at line 17 of file joint-torque-controller.cpp.

TORQUE_CONTROL_INPUT_SIGNALS

#define TORQUE_CONTROL_INPUT_SIGNALS

Value:

  m_jointsTorquesDesiredSIN << m_KpTorqueSIN << m_KdTorqueSIN \
                            << m_coulomb_friction_compensation_percentageSIN

Definition at line 32 of file joint-torque-controller.cpp.

TORQUE_INTEGRAL_INPUT_SIGNALS

#define TORQUE_INTEGRAL_INPUT_SIGNALS   m_KiTorqueSIN << m_torque_integral_saturationSIN

Definition at line 30 of file joint-torque-controller.cpp.

VEL_CONTROL_INPUT_SIGNALS

#define VEL_CONTROL_INPUT_SIGNALS   m_dq_desSIN << m_KdVelSIN << m_KiVelSIN

Definition at line 35 of file joint-torque-controller.cpp.