#include <initializer_list>
#include <map>
#include "boost/assign.hpp"
#include <dynamic-graph/signal-helper.h>
#include <sot/core/matrix-geometry.hh>

Include dependency graph for talos-common.hh:

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Go to the source code of this file.

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...

Namespaces
	dynamicgraph

	dynamicgraph::sot

	dynamicgraph::sot::torque_control

Macros
#define	LEFT_FOOT_FRAME_NAME "LLEG_JOINT5"

#define	N_JOINTS 32

#define	RIGHT_FOOT_FRAME_NAME "RLEG_JOINT5"

#define	TALOSCOMMON_EXPORT

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

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

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

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

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

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

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

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

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...

Macro Definition Documentation

◆ LEFT_FOOT_FRAME_NAME

#define LEFT_FOOT_FRAME_NAME "LLEG_JOINT5"

Definition at line 43 of file talos-common.hh.

◆ N_JOINTS

#define N_JOINTS 32

Definition at line 40 of file talos-common.hh.

◆ RIGHT_FOOT_FRAME_NAME

#define RIGHT_FOOT_FRAME_NAME "RLEG_JOINT5"

Definition at line 42 of file talos-common.hh.

◆ TALOSCOMMON_EXPORT

#define TALOSCOMMON_EXPORT

Definition at line 20 of file talos-common.hh.

Classes

Namespaces

Macros

Enumerations

Functions

Variables

Macro Definition Documentation

◆ LEFT_FOOT_FRAME_NAME

◆ N_JOINTS

◆ RIGHT_FOOT_FRAME_NAME

◆ TALOSCOMMON_EXPORT