16 #include <pinocchio/fwd.hpp> 19 #include <dynamic-graph/linear-algebra.h> 22 #include <dynamic-graph/all-signals.h> 23 #include <dynamic-graph/entity.h> 50 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
65 bool withForceSignals[4];
81 Device(
const std::string &name);
85 virtual void setStateSize(
const unsigned int &size);
86 virtual void setState(
const dynamicgraph::Vector &st);
87 void setVelocitySize(
const unsigned int &size);
88 virtual void setVelocity(
const dynamicgraph::Vector &vel);
89 virtual void setSecondOrderIntegration();
90 virtual void setNoIntegration();
91 virtual void setControlInputType(
const std::string &cit);
92 virtual void increment(
const double &dt = 5e-2);
96 void setSanityCheck(
const bool &enableCheck);
97 void setPositionBounds(
const Vector &lower,
const Vector &upper);
98 void setVelocityBounds(
const Vector &lower,
const Vector &upper);
99 void setTorqueBounds(
const Vector &lower,
const Vector &upper);
106 virtual void display(std::ostream &os)
const;
107 virtual void cmdDisplay();
115 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
controlSIN;
117 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
zmpSIN;
121 dynamicgraph::Signal<dynamicgraph::Vector, int>
stateSOUT;
141 dynamicgraph::Signal<dynamicgraph::Vector, int> *forcesSOUT[4];
149 void integrateRollPitchYaw(dynamicgraph::Vector &state,
150 const dynamicgraph::Vector &control,
double dt);
165 virtual void integrate(
const double &dt);
172 virtual void setRoot(
const dynamicgraph::Matrix &root);
178 dynamicgraph::Vector forceZero6;
virtual const std::string & getClassName(void) const
Definition: device.hh:50
SOT_CORE_EXPORT friend std::ostream & operator<<(std::ostream &os, const Device &r)
Definition: device.hh:108
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:75
dynamicgraph::Vector vel_control_
Definition: device.hh:63
dynamicgraph::Signal< dynamicgraph::Vector, int > robotState_
Definition: device.hh:137
dynamicgraph::Signal< dynamicgraph::Vector, int > pseudoTorqueSOUT
Definition: device.hh:144
dynamicgraph::Vector state_
Definition: device.hh:60
PeriodicCall & periodicCallBefore()
Definition: device.hh:102
ControlInput
Define the type of input expected by the robot.
Definition: device.hh:34
dynamicgraph::Signal< dynamicgraph::Vector, int > ZMPPreviousControllerSOUT
The ZMP reference send by the previous controller.
Definition: device.hh:128
dynamicgraph::Signal< dynamicgraph::Vector, int > robotVelocity_
Motor velocities.
Definition: device.hh:139
PeriodicCall periodicCallAfter_
Definition: device.hh:67
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > controlSIN
Definition: device.hh:115
#define SOT_CORE_EXPORT
Definition: api.hh:20
const std::string ControlInput_s[]
Definition: device.hh:41
Vector upperTorque_
Definition: device.hh:74
Vector upperVelocity_
Definition: device.hh:73
PeriodicCall & periodicCallAfter()
Definition: device.hh:103
Vector lowerPosition_
Definition: device.hh:75
dynamicgraph::Signal< dynamicgraph::Vector, int > motorcontrolSOUT
The current state of the robot from the command viewpoint.
Definition: device.hh:125
PeriodicCall periodicCallBefore_
Definition: device.hh:66
Definition: periodic-call.hh:37
Vector lowerTorque_
Definition: device.hh:77
double timestep_
Definition: device.hh:68
ForceSignalSource
Definition: device.hh:52
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > zmpSIN
Definition: device.hh:117
dynamicgraph::Signal< dynamicgraph::Vector, int > previousControlSOUT
Definition: device.hh:126
bool sanityCheck_
Definition: device.hh:62
Vector upperPosition_
Definition: device.hh:72
ControlInput controlInputType_
Definition: device.hh:64
dynamicgraph::Vector velocity_
Definition: device.hh:61
virtual void display(std::ostream &os) const
Vector lowerVelocity_
Definition: device.hh:76
dynamicgraph::Signal< MatrixRotation, int > attitudeSOUT
Definition: device.hh:123
MatrixHomogeneous ffPose_
Store Position of free flyer joint.
Definition: device.hh:152
static const std::string CLASS_NAME
Definition: device.hh:49
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > attitudeSIN
Definition: device.hh:116
dynamicgraph::Signal< dynamicgraph::Vector, int > stateSOUT
Definition: device.hh:121
Definition: abstract-sot-external-interface.hh:17
dynamicgraph::Signal< dynamicgraph::Vector, int > velocitySOUT
Definition: device.hh:122