dynamicgraph::sot::torque_control Namespace Reference

Classes
struct	ForceLimits
struct	ForceUtil
	Map from force names to force ids. More...
struct	JointLimits
struct	JointUtil
	Map from joint names to joint ids. More...

Enumerations
enum	ForceID { FORCE_ID_RIGHT_FOOT = 0 , FORCE_ID_LEFT_FOOT = 1 , FORCE_ID_RIGHT_HAND = 2 , FORCE_ID_LEFT_HAND = 3 }

Functions
bool	base_se3_to_sot (dg::sot::ConstRefVector pos, dg::sot::ConstRefMatrix R, dg::sot::RefVector q_sot)
bool	base_se3_to_sot (dynamicgraph::sot::ConstRefVector pos, dynamicgraph::sot::ConstRefMatrix R, dynamicgraph::sot::RefVector q_sot)
bool	base_sot_to_urdf (dg::sot::ConstRefVector q_sot, dg::sot::RefVector q_urdf)
bool	base_sot_to_urdf (dynamicgraph::sot::ConstRefVector q_sot, dynamicgraph::sot::RefVector q_urdf)
bool	base_urdf_to_sot (dg::sot::ConstRefVector q_urdf, dg::sot::RefVector q_sot)
bool	base_urdf_to_sot (dynamicgraph::sot::ConstRefVector q_urdf, dynamicgraph::sot::RefVector q_sot)
bool	config_sot_to_urdf (dg::sot::ConstRefVector q_sot, dg::sot::RefVector q_urdf)
bool	config_sot_to_urdf (dynamicgraph::sot::ConstRefVector q_sot, dynamicgraph::sot::RefVector q_urdf)
bool	config_urdf_to_sot (dg::sot::ConstRefVector q_urdf, dg::sot::RefVector q_sot)
bool	config_urdf_to_sot (dynamicgraph::sot::ConstRefVector q_urdf, dynamicgraph::sot::RefVector q_sot)
bool	joints_sot_to_urdf (dg::sot::ConstRefVector q_sot, dg::sot::RefVector q_urdf)
bool	joints_sot_to_urdf (dynamicgraph::sot::ConstRefVector q_sot, dynamicgraph::sot::RefVector q_urdf)
bool	joints_urdf_to_sot (dg::sot::ConstRefVector q_urdf, dg::sot::RefVector q_sot)
bool	joints_urdf_to_sot (dynamicgraph::sot::ConstRefVector q_urdf, dynamicgraph::sot::RefVector q_sot)
bool	velocity_sot_to_urdf (dg::sot::ConstRefVector v_sot, dg::sot::RefVector v_urdf)
bool	velocity_sot_to_urdf (dynamicgraph::sot::ConstRefVector v_sot, dynamicgraph::sot::RefVector v_urdf)
bool	velocity_urdf_to_sot (dg::sot::ConstRefVector v_urdf, dg::sot::RefVector v_sot)
bool	velocity_urdf_to_sot (dynamicgraph::sot::ConstRefVector v_urdf, dynamicgraph::sot::RefVector v_sot)

Variables
const double	DEFAULT_MAX_CURRENT
	max joint position tracking error [rad] More...
const double	DEFAULT_MAX_DELTA_Q
const double	IMU_XYZ [3] = {-0.13, 0.0, 0.118}
	max CURRENT (double in [0 Amp, 20 Amp]) More...
const double	LEFT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE
const double	LEFT_FOOT_FORCE_SENSOR_XYZ [3]
const double	LEFT_FOOT_SOLE_XYZ [3] = {0.0, 0.0, -0.107}
const double	LEFT_HAND_FORCE_SENSOR_MASS_PERCENTAGE
const double	LEFT_HAND_FORCE_SENSOR_XYZ [3] = {0.005, 0.0, -0.051}
const double	LEFT_HAND_FORCE_SENSOR_Z_ROTATION
const double	LEFT_HAND_GRIPPER_XYZ [3] = {0.0, 0.0, 0.02025}
const double	RIGHT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE
	Percentage of mass of the link that is measured by the F/T sensors. More...
const double	RIGHT_FOOT_FORCE_SENSOR_XYZ [3]
	Position of the force/torque sensors w.r.t. the frame of the hosting link. More...
const double	RIGHT_FOOT_SOLE_XYZ [3] = {0.0, 0.0, -0.107}
	Position of the foot soles w.r.t. the frame of the foot. More...
const double	RIGHT_HAND_FORCE_SENSOR_MASS_PERCENTAGE
const double	RIGHT_HAND_FORCE_SENSOR_XYZ [3] = {0.0, 0.0, -0.051}
const double	RIGHT_HAND_FORCE_SENSOR_Z_ROTATION
const double	RIGHT_HAND_GRIPPER_XYZ [3] = {0.0, 0.0, -0.02875}
	Position of the hand grippers w.r.t. the frame of the hand. More...

Enumeration Type Documentation

ForceID

enum ForceID

Enumerator
FORCE_ID_RIGHT_FOOT
FORCE_ID_LEFT_FOOT
FORCE_ID_RIGHT_HAND
FORCE_ID_LEFT_HAND

Definition at line 253 of file talos-common.hh.

Function Documentation

base_se3_to_sot() [1/2]

bool dynamicgraph::sot::torque_control::base_se3_to_sot	(	dg::sot::ConstRefVector	pos,
		dg::sot::ConstRefMatrix	R,
		dg::sot::RefVector	q_sot
	)

Definition at line 18 of file talos-common.cpp.

base_se3_to_sot() [2/2]

bool dynamicgraph::sot::torque_control::base_se3_to_sot	(	dynamicgraph::sot::ConstRefVector	pos,
		dynamicgraph::sot::ConstRefMatrix	R,
		dynamicgraph::sot::RefVector	q_sot
	)

base_sot_to_urdf() [1/2]

bool dynamicgraph::sot::torque_control::base_sot_to_urdf	(	dg::sot::ConstRefVector	q_sot,
		dg::sot::RefVector	q_urdf
	)

Definition at line 58 of file talos-common.cpp.

base_sot_to_urdf() [2/2]

bool dynamicgraph::sot::torque_control::base_sot_to_urdf	(	dynamicgraph::sot::ConstRefVector	q_sot,
		dynamicgraph::sot::RefVector	q_urdf
	)

base_urdf_to_sot() [1/2]

bool dynamicgraph::sot::torque_control::base_urdf_to_sot	(	dg::sot::ConstRefVector	q_urdf,
		dg::sot::RefVector	q_sot
	)

Definition at line 45 of file talos-common.cpp.

base_urdf_to_sot() [2/2]

bool dynamicgraph::sot::torque_control::base_urdf_to_sot	(	dynamicgraph::sot::ConstRefVector	q_urdf,
		dynamicgraph::sot::RefVector	q_sot
	)

config_sot_to_urdf() [1/2]

bool dynamicgraph::sot::torque_control::config_sot_to_urdf	(	dg::sot::ConstRefVector	q_sot,
		dg::sot::RefVector	q_urdf
	)

Definition at line 151 of file talos-common.cpp.

config_sot_to_urdf() [2/2]

bool dynamicgraph::sot::torque_control::config_sot_to_urdf	(	dynamicgraph::sot::ConstRefVector	q_sot,
		dynamicgraph::sot::RefVector	q_urdf
	)

config_urdf_to_sot() [1/2]

bool dynamicgraph::sot::torque_control::config_urdf_to_sot	(	dg::sot::ConstRefVector	q_urdf,
		dg::sot::RefVector	q_sot
	)

Definition at line 82 of file talos-common.cpp.

config_urdf_to_sot() [2/2]

bool dynamicgraph::sot::torque_control::config_urdf_to_sot	(	dynamicgraph::sot::ConstRefVector	q_urdf,
		dynamicgraph::sot::RefVector	q_sot
	)

joints_sot_to_urdf() [1/2]

bool dynamicgraph::sot::torque_control::joints_sot_to_urdf	(	dg::sot::ConstRefVector	q_sot,
		dg::sot::RefVector	q_urdf
	)

Definition at line 361 of file talos-common.cpp.

joints_sot_to_urdf() [2/2]

bool dynamicgraph::sot::torque_control::joints_sot_to_urdf	(	dynamicgraph::sot::ConstRefVector	q_sot,
		dynamicgraph::sot::RefVector	q_urdf
	)

joints_urdf_to_sot() [1/2]

bool dynamicgraph::sot::torque_control::joints_urdf_to_sot	(	dg::sot::ConstRefVector	q_urdf,
		dg::sot::RefVector	q_sot
	)

Definition at line 318 of file talos-common.cpp.

joints_urdf_to_sot() [2/2]

bool dynamicgraph::sot::torque_control::joints_urdf_to_sot	(	dynamicgraph::sot::ConstRefVector	q_urdf,
		dynamicgraph::sot::RefVector	q_sot
	)

velocity_sot_to_urdf() [1/2]

bool dynamicgraph::sot::torque_control::velocity_sot_to_urdf	(	dg::sot::ConstRefVector	v_sot,
		dg::sot::RefVector	v_urdf
	)

Definition at line 266 of file talos-common.cpp.

velocity_sot_to_urdf() [2/2]

bool dynamicgraph::sot::torque_control::velocity_sot_to_urdf	(	dynamicgraph::sot::ConstRefVector	v_sot,
		dynamicgraph::sot::RefVector	v_urdf
	)

velocity_urdf_to_sot() [1/2]

bool dynamicgraph::sot::torque_control::velocity_urdf_to_sot	(	dg::sot::ConstRefVector	v_urdf,
		dg::sot::RefVector	v_sot
	)

Definition at line 214 of file talos-common.cpp.

velocity_urdf_to_sot() [2/2]

bool dynamicgraph::sot::torque_control::velocity_urdf_to_sot	(	dynamicgraph::sot::ConstRefVector	v_urdf,
		dynamicgraph::sot::RefVector	v_sot
	)

Variable Documentation

DEFAULT_MAX_CURRENT

const double DEFAULT_MAX_CURRENT

Initial value:

=
    5

max joint position tracking error [rad]

Definition at line 48 of file talos-common.hh.

DEFAULT_MAX_DELTA_Q

const double DEFAULT_MAX_DELTA_Q

Initial value:

=
    0.1

Definition at line 45 of file talos-common.hh.

IMU_XYZ

const double IMU_XYZ[3] = {-0.13, 0.0, 0.118}

max CURRENT (double in [0 Amp, 20 Amp])

Position of the IMU w.r.t. the frame of the hosting link (torso)

Definition at line 65 of file talos-common.hh.

LEFT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE

const double LEFT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE

Initial value:

=
    0.65

Definition at line 93 of file talos-common.hh.

LEFT_FOOT_FORCE_SENSOR_XYZ

const double LEFT_FOOT_FORCE_SENSOR_XYZ[3]

Initial value:

= {
    0.0, 0.0, -0.0}

Definition at line 70 of file talos-common.hh.

LEFT_FOOT_SOLE_XYZ

const double LEFT_FOOT_SOLE_XYZ[3] = {0.0, 0.0, -0.107}

Definition at line 84 of file talos-common.hh.

LEFT_HAND_FORCE_SENSOR_MASS_PERCENTAGE

const double LEFT_HAND_FORCE_SENSOR_MASS_PERCENTAGE

Initial value:

=
    0.75

Definition at line 97 of file talos-common.hh.

LEFT_HAND_FORCE_SENSOR_XYZ

const double LEFT_HAND_FORCE_SENSOR_XYZ[3] = {0.005, 0.0, -0.051}

Definition at line 73 of file talos-common.hh.

LEFT_HAND_FORCE_SENSOR_Z_ROTATION

const double LEFT_HAND_FORCE_SENSOR_Z_ROTATION

Initial value:

=
    -0.5 * M_PI

Definition at line 79 of file talos-common.hh.

LEFT_HAND_GRIPPER_XYZ

const double LEFT_HAND_GRIPPER_XYZ[3] = {0.0, 0.0, 0.02025}

Definition at line 88 of file talos-common.hh.

RIGHT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE

const double RIGHT_FOOT_FORCE_SENSOR_MASS_PERCENTAGE

Initial value:

=
    0.65

Percentage of mass of the link that is measured by the F/T sensors.

Definition at line 91 of file talos-common.hh.

RIGHT_FOOT_FORCE_SENSOR_XYZ

const double RIGHT_FOOT_FORCE_SENSOR_XYZ[3]

Initial value:

= {
    0.0, 0.0, -0.0}

Position of the force/torque sensors w.r.t. the frame of the hosting link.

Definition at line 68 of file talos-common.hh.

RIGHT_FOOT_SOLE_XYZ

const double RIGHT_FOOT_SOLE_XYZ[3] = {0.0, 0.0, -0.107}

Position of the foot soles w.r.t. the frame of the foot.

Definition at line 83 of file talos-common.hh.

RIGHT_HAND_FORCE_SENSOR_MASS_PERCENTAGE

const double RIGHT_HAND_FORCE_SENSOR_MASS_PERCENTAGE

Initial value:

=
    0.75

Definition at line 95 of file talos-common.hh.

RIGHT_HAND_FORCE_SENSOR_XYZ

const double RIGHT_HAND_FORCE_SENSOR_XYZ[3] = {0.0, 0.0, -0.051}

Definition at line 72 of file talos-common.hh.

RIGHT_HAND_FORCE_SENSOR_Z_ROTATION

const double RIGHT_HAND_FORCE_SENSOR_Z_ROTATION

Initial value:

=
    -0.5 * M_PI

Rotation angle around Z axis of the force/torque sensors w.r.t. the frame of the hosting link

Definition at line 77 of file talos-common.hh.

RIGHT_HAND_GRIPPER_XYZ

const double RIGHT_HAND_GRIPPER_XYZ[3] = {0.0, 0.0, -0.02875}

Position of the hand grippers w.r.t. the frame of the hand.

Definition at line 87 of file talos-common.hh.