sot-core
4.11.4
Hierarchical task solver plug-in for dynamic-graph.
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16 #include <pinocchio/fwd.hpp>
19 #include <dynamic-graph/linear-algebra.h>
24 #include <dynamic-graph/all-signals.h>
25 #include <dynamic-graph/entity.h>
48 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
63 bool withForceSignals[4];
79 Device(
const std::string &name);
83 virtual void setStateSize(
const unsigned int &size);
84 virtual void setState(
const dynamicgraph::Vector &st);
85 void setVelocitySize(
const unsigned int &size);
86 virtual void setVelocity(
const dynamicgraph::Vector &vel);
87 virtual void setSecondOrderIntegration();
88 virtual void setNoIntegration();
89 virtual void setControlInputType(
const std::string &cit);
90 virtual void increment(
const double &dt = 5e-2);
94 void setSanityCheck(
const bool &enableCheck);
95 void setPositionBounds(
const Vector &lower,
const Vector &upper);
96 void setVelocityBounds(
const Vector &lower,
const Vector &upper);
97 void setTorqueBounds(
const Vector &lower,
const Vector &upper);
104 virtual void display(std::ostream &os)
const;
105 virtual void cmdDisplay();
113 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
controlSIN;
115 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
zmpSIN;
119 dynamicgraph::Signal<dynamicgraph::Vector, int>
stateSOUT;
139 dynamicgraph::Signal<dynamicgraph::Vector, int> *forcesSOUT[4];
147 void integrateRollPitchYaw(dynamicgraph::Vector &state,
148 const dynamicgraph::Vector &control,
double dt);
163 virtual void integrate(
const double &dt);
170 virtual void setRoot(
const dynamicgraph::Matrix &root);
176 dynamicgraph::Vector forceZero6;
dynamicgraph::Signal< dynamicgraph::Vector, int > pseudoTorqueSOUT
Definition: device.hh:142
@ FORCE_SIGNAL_LLEG
Definition: device.hh:52
virtual const std::string & getClassName(void) const
Definition: device.hh:48
dynamicgraph::Signal< dynamicgraph::Vector, int > robotState_
Definition: device.hh:135
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:74
#define SOT_CORE_EXPORT
Definition: api.hh:20
ControlInput
Define the type of input expected by the robot.
Definition: device.hh:32
dynamicgraph::Signal< dynamicgraph::Vector, int > ZMPPreviousControllerSOUT
The ZMP reference send by the previous controller.
Definition: device.hh:126
Definition: abstract-sot-external-interface.hh:17
dynamicgraph::Vector vel_control_
Definition: device.hh:61
PeriodicCall & periodicCallBefore()
Definition: device.hh:100
dynamicgraph::Vector state_
Definition: device.hh:58
dynamicgraph::Signal< dynamicgraph::Vector, int > robotVelocity_
Motor velocities.
Definition: device.hh:137
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > controlSIN
Definition: device.hh:113
const std::string ControlInput_s[]
Definition: device.hh:39
PeriodicCall periodicCallAfter_
Definition: device.hh:65
Vector upperVelocity_
Definition: device.hh:71
@ CONTROL_INPUT_SIZE
Definition: device.hh:36
@ FORCE_SIGNAL_RLEG
Definition: device.hh:51
Vector upperTorque_
Definition: device.hh:72
@ CONTROL_INPUT_NO_INTEGRATION
Definition: device.hh:33
PeriodicCall periodicCallBefore_
Definition: device.hh:64
PeriodicCall & periodicCallAfter()
Definition: device.hh:101
Vector lowerTorque_
Definition: device.hh:75
Vector lowerPosition_
Definition: device.hh:73
@ FORCE_SIGNAL_RARM
Definition: device.hh:53
ForceSignalSource
Definition: device.hh:50
dynamicgraph::Signal< dynamicgraph::Vector, int > motorcontrolSOUT
The current state of the robot from the command viewpoint.
Definition: device.hh:123
Vector upperPosition_
Definition: device.hh:70
virtual void display(std::ostream &os) const
dynamicgraph::Signal< dynamicgraph::Vector, int > previousControlSOUT
Definition: device.hh:124
bool sanityCheck_
Definition: device.hh:60
double timestep_
Definition: device.hh:66
dynamicgraph::Vector velocity_
Definition: device.hh:59
ControlInput controlInputType_
Definition: device.hh:62
dynamicgraph::Signal< MatrixRotation, int > attitudeSOUT
Definition: device.hh:121
MatrixHomogeneous ffPose_
Store Position of free flyer joint.
Definition: device.hh:150
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > zmpSIN
Definition: device.hh:115
Definition: periodic-call.hh:36
Vector lowerVelocity_
Definition: device.hh:74
dynamicgraph::Signal< dynamicgraph::Vector, int > stateSOUT
Definition: device.hh:119
static const std::string CLASS_NAME
Definition: device.hh:47
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > attitudeSIN
Definition: device.hh:114
@ CONTROL_INPUT_ONE_INTEGRATION
Definition: device.hh:34
@ CONTROL_INPUT_TWO_INTEGRATION
Definition: device.hh:35
dynamicgraph::Signal< dynamicgraph::Vector, int > velocitySOUT
Definition: device.hh:120
SOT_CORE_EXPORT friend std::ostream & operator<<(std::ostream &os, const Device &r)
Definition: device.hh:106