#include <wholebody_control.h>
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void | finalize () |
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void | getGroupPose (std::string name, geometry_msgs::Pose *msg) |
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std::vector< double_t > | getJointAcceleration (double time) |
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std::vector< double_t > | getJointPosition (double time) |
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std::vector< double_t > | getJointVelocity (double time) |
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std::vector< double_t > | getTaskAcceleration (double time) |
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void | getTaskOrientation (std::vector< double_t > &l_foot_Q, std::vector< double_t > &r_foot_Q, std::vector< double_t > &body_Q) |
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void | getTaskPosition (std::vector< double_t > &l_foot_pos, std::vector< double_t > &r_foot_pos, std::vector< double_t > &body_pos) |
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std::vector< double_t > | getTaskVelocity (double time) |
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void | initialize (std::vector< double_t > init_body_pos, std::vector< double_t > init_body_rot, std::vector< double_t > init_r_foot_pos, std::vector< double_t > init_r_foot_Q, std::vector< double_t > init_l_foot_pos, std::vector< double_t > init_l_foot_Q) |
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void | set (double time) |
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void | update () |
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| WholebodyControl (std::string control_group, double init_time, double fin_time, geometry_msgs::Pose goal_msg) |
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virtual | ~WholebodyControl () |
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Definition at line 33 of file wholebody_control.h.
WholebodyControl::WholebodyControl |
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std::string |
control_group, |
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double |
init_time, |
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double |
fin_time, |
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geometry_msgs::Pose |
goal_msg |
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) |
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WholebodyControl::~WholebodyControl |
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void WholebodyControl::finalize |
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void WholebodyControl::getGroupPose |
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std::string |
name, |
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geometry_msgs::Pose * |
msg |
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) |
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std::vector< double_t > WholebodyControl::getJointAcceleration |
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double |
time | ) |
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std::vector< double_t > WholebodyControl::getJointPosition |
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double |
time | ) |
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std::vector< double_t > WholebodyControl::getJointVelocity |
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double |
time | ) |
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std::vector< double_t > WholebodyControl::getTaskAcceleration |
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double |
time | ) |
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void WholebodyControl::getTaskOrientation |
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std::vector< double_t > & |
l_foot_Q, |
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std::vector< double_t > & |
r_foot_Q, |
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std::vector< double_t > & |
body_Q |
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) |
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void WholebodyControl::getTaskPosition |
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std::vector< double_t > & |
l_foot_pos, |
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std::vector< double_t > & |
r_foot_pos, |
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std::vector< double_t > & |
body_pos |
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) |
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std::vector< double_t > WholebodyControl::getTaskVelocity |
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double |
time | ) |
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void WholebodyControl::initialize |
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std::vector< double_t > |
init_body_pos, |
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std::vector< double_t > |
init_body_rot, |
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std::vector< double_t > |
init_r_foot_pos, |
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std::vector< double_t > |
init_r_foot_Q, |
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std::vector< double_t > |
init_l_foot_pos, |
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std::vector< double_t > |
init_l_foot_Q |
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) |
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void WholebodyControl::set |
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double |
time | ) |
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void WholebodyControl::update |
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std::string WholebodyControl::control_group_ |
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std::vector<double_t> WholebodyControl::des_body_accel_ |
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std::vector<double_t> WholebodyControl::des_body_pos_ |
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Eigen::Quaterniond WholebodyControl::des_body_Q_ |
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std::vector<double_t> WholebodyControl::des_body_vel_ |
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std::vector<double_t> WholebodyControl::des_l_foot_accel_ |
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std::vector<double_t> WholebodyControl::des_l_foot_pos_ |
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Eigen::Quaterniond WholebodyControl::des_l_foot_Q_ |
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std::vector<double_t> WholebodyControl::des_l_foot_vel_ |
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std::vector<double_t> WholebodyControl::des_r_foot_accel_ |
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std::vector<double_t> WholebodyControl::des_r_foot_pos_ |
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Eigen::Quaterniond WholebodyControl::des_r_foot_Q_ |
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std::vector<double_t> WholebodyControl::des_r_foot_vel_ |
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Eigen::Quaterniond WholebodyControl::des_task_Q_ |
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int WholebodyControl::end_link_ |
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double WholebodyControl::fin_time_ |
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std::vector<double_t> WholebodyControl::goal_body_accel_ |
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std::vector<double_t> WholebodyControl::goal_body_pos_ |
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Eigen::Quaterniond WholebodyControl::goal_body_Q_ |
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std::vector<double_t> WholebodyControl::goal_body_vel_ |
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std::vector<double_t> WholebodyControl::goal_l_foot_accel_ |
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std::vector<double_t> WholebodyControl::goal_l_foot_pos_ |
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Eigen::Quaterniond WholebodyControl::goal_l_foot_Q_ |
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std::vector<double_t> WholebodyControl::goal_l_foot_vel_ |
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geometry_msgs::Pose WholebodyControl::goal_msg_ |
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std::vector<double_t> WholebodyControl::goal_r_foot_accel_ |
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std::vector<double_t> WholebodyControl::goal_r_foot_pos_ |
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Eigen::Quaterniond WholebodyControl::goal_r_foot_Q_ |
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std::vector<double_t> WholebodyControl::goal_r_foot_vel_ |
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std::vector<double_t> WholebodyControl::goal_task_accel_ |
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std::vector<double_t> WholebodyControl::goal_task_pos_ |
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Eigen::Quaterniond WholebodyControl::goal_task_Q_ |
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std::vector<double_t> WholebodyControl::goal_task_vel_ |
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std::vector<double_t> WholebodyControl::init_body_accel_ |
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std::vector<double_t> WholebodyControl::init_body_pos_ |
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Eigen::Quaterniond WholebodyControl::init_body_Q_ |
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std::vector<double_t> WholebodyControl::init_body_vel_ |
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std::vector<double_t> WholebodyControl::init_l_foot_accel_ |
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std::vector<double_t> WholebodyControl::init_l_foot_pos_ |
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Eigen::Quaterniond WholebodyControl::init_l_foot_Q_ |
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std::vector<double_t> WholebodyControl::init_l_foot_vel_ |
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std::vector<double_t> WholebodyControl::init_r_foot_accel_ |
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std::vector<double_t> WholebodyControl::init_r_foot_pos_ |
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Eigen::Quaterniond WholebodyControl::init_r_foot_Q_ |
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std::vector<double_t> WholebodyControl::init_r_foot_vel_ |
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Eigen::Quaterniond WholebodyControl::init_task_Q_ |
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double WholebodyControl::init_time_ |
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The documentation for this class was generated from the following files: