dynamicgraph::sot::ForceCompensation Class Reference

#include <force-compensation.h>

Inheritance diagram for dynamicgraph::sot::ForceCompensation:

Public Member Functions
void	addCalibrationValue (const dynamicgraph::Vector &torsor, const MatrixRotation &worldRhand)
dynamicgraph::Vector	calibrateGravity (const MatrixRotation &handRsensor, bool precompensationCalibration=false, const MatrixRotation &hand0Rsensor=I3)
dynamicgraph::Vector	calibrateTransSensorCom (const dynamicgraph::Vector &gravity, const MatrixRotation &handRsensor)
void	clearCalibration (void)
	ForceCompensation (void)

Static Public Member Functions
static dynamicgraph::Vector &	computeDeadZone (const dynamicgraph::Vector &torqueInput, const dynamicgraph::Vector &deadZoneLimit, dynamicgraph::Vector &res)
static MatrixForce &	computeHandVsensor (const MatrixRotation &sensorRhand, MatrixForce &res)
static MatrixForce &	computeHandXworld (const MatrixRotation &worldRhand, const dynamicgraph::Vector &transSensorCom, MatrixForce &res)
static dynamicgraph::Vector &	computeMomentum (const dynamicgraph::Vector &velocity, const dynamicgraph::Vector &acceleration, const MatrixForce &sensorXhand, const dynamicgraph::Matrix &inertiaJoint, dynamicgraph::Vector &res)
static MatrixForce &	computeSensorXhand (const MatrixRotation &sensorRhand, const dynamicgraph::Vector &transSensorCom, MatrixForce &res)
static dynamicgraph::Vector &	computeTorsorCompensated (const dynamicgraph::Vector &torqueInput, const dynamicgraph::Vector &torquePrecompensation, const dynamicgraph::Vector &gravity, const MatrixForce &handXworld, const MatrixForce &handVsensor, const dynamicgraph::Matrix &gainSensor, const dynamicgraph::Vector &momentum, dynamicgraph::Vector &res)
static dynamicgraph::Vector &	crossProduct_V_F (const dynamicgraph::Vector &velocity, const dynamicgraph::Vector &force, dynamicgraph::Vector &res)

Public Attributes
std::list< MatrixRotation >	rotationList
std::list< dynamicgraph::Vector >	torsorList

Protected Attributes
bool	usingPrecompensation

Static Private Attributes
static MatrixRotation	I3

Detailed Description

Definition at line 52 of file force-compensation.h.

Constructor & Destructor Documentation

ForceCompensation()

ForceCompensation::ForceCompensation

(

void

)

Definition at line 24 of file force-compensation.cpp.

Member Function Documentation

addCalibrationValue()

void ForceCompensation::addCalibrationValue	(	const dynamicgraph::Vector &	torsor,
		const MatrixRotation &	worldRhand
	)

Definition at line 163 of file force-compensation.cpp.

calibrateGravity()

dynamicgraph::Vector ForceCompensation::calibrateGravity	(	const MatrixRotation &	handRsensor,
		bool	precompensationCalibration = false,
		const MatrixRotation &	hand0Rsensor = I3
	)

Definition at line 258 of file force-compensation.cpp.

calibrateTransSensorCom()

dynamicgraph::Vector ForceCompensation::calibrateTransSensorCom	(	const dynamicgraph::Vector &	gravity,
		const MatrixRotation &	handRsensor
	)

Definition at line 178 of file force-compensation.cpp.

clearCalibration()

void ForceCompensation::clearCalibration

(

void

)

Definition at line 158 of file force-compensation.cpp.

computeDeadZone()

dynamicgraph::Vector & ForceCompensation::computeDeadZone ( const dynamicgraph::Vector &  torqueInput, const dynamicgraph::Vector &  deadZoneLimit, dynamicgraph::Vector &  res  )

static

Definition at line 522 of file force-compensation.cpp.

computeHandVsensor()

MatrixForce & ForceCompensation::computeHandVsensor ( const MatrixRotation &  sensorRhand, MatrixForce &  res  )

static

Definition at line 371 of file force-compensation.cpp.

computeHandXworld()

MatrixForce & ForceCompensation::computeHandXworld ( const MatrixRotation &  worldRhand, const dynamicgraph::Vector &  transSensorCom, MatrixForce &  res  )

static

Definition at line 337 of file force-compensation.cpp.

computeMomentum()

dynamicgraph::Vector & ForceCompensation::computeMomentum ( const dynamicgraph::Vector &  velocity, const dynamicgraph::Vector &  acceleration, const MatrixForce &  sensorXhand, const dynamicgraph::Matrix &  inertiaJoint, dynamicgraph::Vector &  res  )

static

Definition at line 498 of file force-compensation.cpp.

computeSensorXhand()

MatrixForce & ForceCompensation::computeSensorXhand ( const MatrixRotation &  sensorRhand, const dynamicgraph::Vector &  transSensorCom, MatrixForce &  res  )

static

Definition at line 389 of file force-compensation.cpp.

computeTorsorCompensated()

dynamicgraph::Vector & ForceCompensation::computeTorsorCompensated ( const dynamicgraph::Vector &  torqueInput, const dynamicgraph::Vector &  torquePrecompensation, const dynamicgraph::Vector &  gravity, const MatrixForce &  handXworld, const MatrixForce &  handVsensor, const dynamicgraph::Matrix &  gainSensor, const dynamicgraph::Vector &  momentum, dynamicgraph::Vector &  res  )

static

Definition at line 431 of file force-compensation.cpp.

crossProduct_V_F()

dynamicgraph::Vector & ForceCompensation::crossProduct_V_F ( const dynamicgraph::Vector &  velocity, const dynamicgraph::Vector &  force, dynamicgraph::Vector &  res  )

static

Definition at line 473 of file force-compensation.cpp.

Member Data Documentation

I3

MatrixRotation ForceCompensation::I3

staticprivate

Definition at line 54 of file force-compensation.h.

rotationList

std::list<MatrixRotation> dynamicgraph::sot::ForceCompensation::rotationList

Definition at line 96 of file force-compensation.h.

torsorList

std::list<dynamicgraph::Vector> dynamicgraph::sot::ForceCompensation::torsorList

Definition at line 95 of file force-compensation.h.

usingPrecompensation

bool dynamicgraph::sot::ForceCompensation::usingPrecompensation

protected

Definition at line 57 of file force-compensation.h.

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The documentation for this class was generated from the following files:

• force-compensation.h
• force-compensation.cpp