#include <force-compensation.h>

Inheritance diagram for dynamicgraph::sot::ForceCompensationPlugin:

Public Types
typedef int	sotDummyType

Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command * >	CommandMap_t

typedef std::map< std::string, SignalBase< int > * >	SignalMap

Public Member Functions
sotDummyType &	calibrationTriger (sotDummyType &dummy, sigtime_t time)

	ForceCompensationPlugin (const std::string &name)

virtual const std::string &	getClassName (void) const

virtual	~ForceCompensationPlugin (void)

Public Member Functions inherited from dynamicgraph::Entity
virtual void	display (std::ostream &os) const

std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

const std::string &	getCommandList () const

virtual std::string	getDocString () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger &	logger ()

const Logger &	logger () const

const Logger &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Public Member Functions inherited from dynamicgraph::sot::ForceCompensation
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)

Public Attributes
dg::SignalPtr< dynamicgraph::Vector, sigtime_t >	accelerationSIN

bool	calibrationStarted

dg::SignalTimeDependent< sotDummyType, sigtime_t >	calibrationTrigerSOUT

dg::SignalPtr< dynamicgraph::Vector, sigtime_t >	deadZoneLimitSIN

dg::SignalPtr< dynamicgraph::Matrix, sigtime_t >	gainSensorSIN

dg::SignalPtr< dynamicgraph::Vector, sigtime_t >	gravitySIN

dg::SignalPtr< MatrixRotation, sigtime_t >	handRsensorSIN

dg::SignalTimeDependent< MatrixForce, sigtime_t >	handVsensorSOUT

dg::SignalTimeDependent< MatrixForce, sigtime_t >	handXworldSOUT

dg::SignalPtr< dynamicgraph::Matrix, sigtime_t >	inertiaJointSIN

dg::SignalPtr< dynamicgraph::Vector, sigtime_t >	momentumSIN

dg::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	momentumSOUT

dg::SignalPtr< dynamicgraph::Vector, sigtime_t >	precompensationSIN

dg::SignalTimeDependent< MatrixForce, sigtime_t >	sensorXhandSOUT

dg::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	torsorCompensatedSOUT

dg::SignalPtr< dynamicgraph::Vector, sigtime_t >	torsorDeadZoneSIN

dg::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	torsorDeadZoneSOUT

dg::SignalPtr< dynamicgraph::Vector, sigtime_t >	torsorSIN

dg::SignalPtr< dynamicgraph::Vector, sigtime_t >	translationSensorComSIN

dg::SignalPtr< dynamicgraph::Vector, sigtime_t >	transSensorJointSIN

dg::SignalPtr< dynamicgraph::Vector, sigtime_t >	velocitySIN

dg::SignalPtr< MatrixRotation, sigtime_t >	worldRhandSIN

Public Attributes inherited from dynamicgraph::sot::ForceCompensation
std::list< MatrixRotation >	rotationList

std::list< dynamicgraph::Vector >	torsorList

Static Public Attributes
static const std::string	CLASS_NAME

Additional Inherited Members
Static Public Member Functions inherited from dynamicgraph::sot::ForceCompensation
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)

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< int > &signals)

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Protected Attributes inherited from dynamicgraph::sot::ForceCompensation
bool	usingPrecompensation

Detailed Description

Definition at line 114 of file force-compensation.h.

Member Typedef Documentation

◆ sotDummyType

typedef int dynamicgraph::sot::ForceCompensationPlugin::sotDummyType

Definition at line 159 of file force-compensation.h.

Constructor & Destructor Documentation

◆ ForceCompensationPlugin()

ForceCompensationPlugin::ForceCompensationPlugin ( const std::string & name )

Definition at line 26 of file force-compensation.cpp.

◆ ~ForceCompensationPlugin()

ForceCompensationPlugin::~ForceCompensationPlugin ( void )

virtual

Definition at line 150 of file force-compensation.cpp.

Member Function Documentation

◆ calibrationTriger()

ForceCompensationPlugin::sotDummyType & ForceCompensationPlugin::calibrationTriger	(	ForceCompensationPlugin::sotDummyType &	dummy,
		sigtime_t	time
	)

Definition at line 544 of file force-compensation.cpp.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::ForceCompensationPlugin::getClassName ( void ) const

inlinevirtual

Reimplemented from dynamicgraph::Entity.

Definition at line 119 of file force-compensation.h.

Member Data Documentation

◆ accelerationSIN

dg::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::accelerationSIN

Definition at line 142 of file force-compensation.h.

◆ calibrationStarted

bool dynamicgraph::sot::ForceCompensationPlugin::calibrationStarted

Definition at line 120 of file force-compensation.h.

◆ calibrationTrigerSOUT

dg::SignalTimeDependent<sotDummyType, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::calibrationTrigerSOUT

Definition at line 160 of file force-compensation.h.

◆ CLASS_NAME

const std::string dynamicgraph::sot::ForceCompensationPlugin::CLASS_NAME

static

Definition at line 118 of file force-compensation.h.

◆ deadZoneLimitSIN

dg::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::deadZoneLimitSIN

Definition at line 137 of file force-compensation.h.

◆ gainSensorSIN

dg::SignalPtr<dynamicgraph::Matrix, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::gainSensorSIN

Definition at line 136 of file force-compensation.h.

◆ gravitySIN

dg::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::gravitySIN

Definition at line 134 of file force-compensation.h.

◆ handRsensorSIN

dg::SignalPtr<MatrixRotation, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::handRsensorSIN

Definition at line 132 of file force-compensation.h.

◆ handVsensorSOUT

dg::SignalTimeDependent<MatrixForce, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::handVsensorSOUT

Definition at line 146 of file force-compensation.h.

◆ handXworldSOUT

dg::SignalTimeDependent<MatrixForce, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::handXworldSOUT

Definition at line 145 of file force-compensation.h.

◆ inertiaJointSIN

dg::SignalPtr<dynamicgraph::Matrix, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::inertiaJointSIN

Definition at line 139 of file force-compensation.h.

◆ momentumSIN

dg::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::momentumSIN

Definition at line 152 of file force-compensation.h.

◆ momentumSOUT

dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::momentumSOUT

Definition at line 151 of file force-compensation.h.

◆ precompensationSIN

dg::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::precompensationSIN

Definition at line 135 of file force-compensation.h.

◆ sensorXhandSOUT

dg::SignalTimeDependent<MatrixForce, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::sensorXhandSOUT

Definition at line 149 of file force-compensation.h.

◆ torsorCompensatedSOUT

dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::torsorCompensatedSOUT

Definition at line 156 of file force-compensation.h.

◆ torsorDeadZoneSIN

dg::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::torsorDeadZoneSIN

Definition at line 147 of file force-compensation.h.

◆ torsorDeadZoneSOUT

dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::torsorDeadZoneSOUT

Definition at line 157 of file force-compensation.h.

◆ torsorSIN

dg::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::torsorSIN

Definition at line 128 of file force-compensation.h.

◆ translationSensorComSIN

dg::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::translationSensorComSIN

Definition at line 133 of file force-compensation.h.

◆ transSensorJointSIN

dg::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::transSensorJointSIN

Definition at line 138 of file force-compensation.h.

◆ velocitySIN

dg::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::velocitySIN

Definition at line 141 of file force-compensation.h.

◆ worldRhandSIN

dg::SignalPtr<MatrixRotation, sigtime_t> dynamicgraph::sot::ForceCompensationPlugin::worldRhandSIN

Definition at line 129 of file force-compensation.h.

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members