sot-dynamic-pinocchio: dynamicgraph::sot Namespace Reference

Namespaces
	command

	core

	detail

	internal

	TaskAbstract

	tools

	VectorMix

Classes
class	__sotDebug_init

class	AbstractSotExternalInterface

struct	AdderVariadic

class	AdditionalFunctions

class	AngleEstimator

class	BinaryIntToUint

class	BinaryOp

struct	BinaryOpHeader

struct	BoolOp

class	CausalFilter

class	ClampWorkspace

class	CoMFreezer

struct	Comparison

struct	Composer

class	Contiifstream

class	ControlGR

class	ControlPD

struct	ConvolutionTemporal

class	DebugTrace

class	Derivator

class	Device

struct	Diagonalizer

class	DoubleConstant

class	DynamicPinocchio
	This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks. The robot is described by a VRML file. More...

class	Event

class	ExceptionAbstract

class	ExceptionDynamic

class	ExceptionFactory

class	ExceptionFeature

class	ExceptionSignal

class	ExceptionTask

class	ExceptionTools

class	ExpMovingAvg

class	ExtractJointMimics

class	Feature1D

class	FeatureAbstract

class	FeatureGeneric

class	FeatureJointLimits

class	FeatureLineDistance

class	FeaturePose

class	FeaturePosture

class	FeatureReferenceHelper

class	FeatureTask

class	FeatureVector3

class	FeatureVisualPoint

class	FilterDifferentiator

class	FIRFilter

class	Flags

struct	FootUtil

class	ForceCompensation

class	ForceCompensationPlugin

struct	ForceLimits

struct	ForceUtil

class	GainAdaptive

class	GainHyperbolic

class	GradientAscent

class	GripperControl

class	GripperControlPlugin

struct	HandUtil

class	Header

struct	HomoToMatrix

struct	HomoToRotation

struct	HomoToTwist

class	Integrator

class	IntegratorAbstract

class	IntegratorEuler

class	IntegratorForce

class	IntegratorForceExact

class	IntegratorForceRK4

struct	Inverser

struct	InverserQuaternion

struct	InverserRotation

class	JointLimitator

struct	JointLimits

class	JointTrajectoryPoint

class	Kalman

class	Latch

class	MadgwickAHRS

class	Mailbox

struct	MailboxTimestampedObject

class	MassApparent

struct	MatrixColumnSelector

struct	MatrixComparison

class	MatrixConstant

struct	MatrixHomoToPose

struct	MatrixHomoToPoseQuaternion

struct	MatrixHomoToPoseRollPitchYaw

struct	MatrixHomoToPoseUTheta

struct	MatrixHomoToSE3Vector

class	MatrixInertia

struct	MatrixSelector

struct	MatrixToHomo

struct	MatrixToQuaternion

struct	MatrixToRPY

struct	MatrixToUTheta

struct	MatrixTranspose

class	MemoryTaskSOT

class	MotionPeriod

class	MultiBound

struct	Multiplier

struct	Multiplier_FxE__E

class	NamedVector

class	NeckLimitation

struct	Normalize

class	OpPointModifier

class	ParameterServer

class	PeriodicCall

class	PeriodicCallEntity

class	PoolStorage

struct	PoseQuaternionToMatrixHomo

struct	PoseRollPitchYawToMatrixHomo

struct	PoseRollPitchYawToPoseUTheta

struct	PoseUThetaToMatrixHomo

struct	QuaternionToMatrix

struct	QuaternionToRPY

class	RobotSimu

struct	RobotUtil

struct	RPYToMatrix

struct	RPYToQuaternion

class	RulesJointTrajectory

struct	SE3VectorToMatrixHomo

class	Segment

class	Sequencer

struct	SkewSymToVector

class	SmoothReach

class	Sot

class	SotJointTrajectoryEntity

class	SotLoader

struct	Substraction

class	Switch

class	Task

class	TaskAbstract

class	TaskConti

class	TaskPD

class	TaskUnilateral

class	TimeStamp

class	timestamp

class	Trajectory

struct	TypeNameHelper

class	UnaryOp

struct	UnaryOpHeader

struct	UThetaToQuaternion

class	VariadicAbstract

class	VariadicOp

struct	VariadicOpHeader

struct	VectorComponent

class	VectorConstant

struct	VectorMix

struct	VectorSelecter

struct	VectorStack

class	VectorToRotation

class	VisualPointProjecter

class	WaistAttitudeFromSensor

class	WaistPoseFromSensorAndContact

struct	WeightedAdder

class	ZmprefFromCom

Typedefs
typedef NamedVector	ControlValues

typedef FilterDifferentiator	EntityClassName

typedef FeaturePose< R3xSO3Representation >	FeaturePose_t

typedef FeaturePose< SE3Representation >	FeaturePoseSE3_t

typedef Eigen::VectorXd::Index	Index

typedef Mailbox< dynamicgraph::Vector >	MailboxVector

typedef Eigen::Matrix< double, 6, 6 > SOT_CORE_EXPORT	MatrixForce

typedef Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT	MatrixHomogeneous

typedef Eigen::Matrix< double, 3, 3 > SOT_CORE_EXPORT	MatrixRotation

typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	MatrixRXd

typedef Eigen::Matrix< double, 6, 6 > SOT_CORE_EXPORT	MatrixTwist

typedef Multiplier_FxE__E< double, dynamicgraph::Vector >	Multiplier_double_vector

typedef Multiplier_FxE__E< dynamicgraph::Matrix, dynamicgraph::Vector >	Multiplier_matrix_vector

typedef Multiplier_FxE__E< MatrixHomogeneous, dynamicgraph::Vector >	Multiplier_matrixHomo_vector

typedef Multiplier_FxE__E< MatrixTwist, dynamicgraph::Vector >	Multiplier_matrixTwist_vector

typedef Eigen::Quaternion< double > SOT_CORE_EXPORT	Quaternion

typedef Eigen::Map< Quaternion > SOT_CORE_EXPORT	QuaternionMap

typedef pinocchio::CartesianProductOperation< pinocchio::VectorSpaceOperationTpl< 3, double >, pinocchio::SpecialOrthogonalOperationTpl< 3, double > >	R3xSO3_t

typedef Eigen::Ref< Eigen::MatrixXd >	RefMatrix

typedef Eigen::Ref< Eigen::VectorXd >	RefVector

typedef std::shared_ptr< RobotUtil >	RobotUtilShrPtr

typedef pinocchio::SpecialEuclideanOperationTpl< 3, double >	SE3_t

typedef NamedVector	SensorValues

typedef Eigen::Map< MatrixRXd >	SigMatrixXd

typedef Eigen::Map< Eigen::VectorXd >	SigVectorXd

typedef Switch< bool, int >	SwitchBool

typedef Switch< MatrixHomogeneous, int >	SwitchMatrixHomogeneous

typedef Switch< Vector, int >	SwitchVector

typedef Vector6d	Vector6

typedef Eigen::Matrix< double, 7, 1 > SOT_CORE_EXPORT	Vector7

typedef std::vector< MultiBound >	VectorMultiBound

typedef Eigen::Quaternion< double > SOT_CORE_EXPORT	VectorQuaternion

typedef Eigen::Vector3d SOT_CORE_EXPORT	VectorRollPitchYaw

typedef Eigen::Vector3d SOT_CORE_EXPORT	VectorRotation

typedef Eigen::AngleAxis< double > SOT_CORE_EXPORT	VectorUTheta

Enumerations
enum	ControlInput

enum	Representation_t

Functions
std::ostream &	__null_stream ()

bool	base_se3_to_sot (ConstRefVector pos, ConstRefMatrix R, RefVector q_sot)

bool	base_sot_to_urdf (ConstRefVector q_sot, RefVector q_urdf)

bool	base_urdf_to_sot (ConstRefVector q_urdf, RefVector q_sot)

void	buildFrom (const MatrixHomogeneous &MH, MatrixTwist &MT)

Vector6d	convertVelocity (const MatrixHomogeneous &M, const MatrixHomogeneous &Mdes, const Vector &faNufafbDes)

RobotUtilShrPtr	createRobotUtil (std::string &robotName)

	DEFINE_SIGNAL_INNER_FUNCTION (x_dx_ddx, dynamicgraph::Vector)

	DEFINE_SIGNAL_OUT_FUNCTION (ddx, dynamicgraph::Vector)

	DEFINE_SIGNAL_OUT_FUNCTION (dx, dynamicgraph::Vector)

	DEFINE_SIGNAL_OUT_FUNCTION (imu_quat, dynamicgraph::Vector)

	DEFINE_SIGNAL_OUT_FUNCTION (x_filtered, dynamicgraph::Vector)

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (DoubleConstant, "DoubleConstant")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Event, "Event")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ExpMovingAvg, "ExpMovingAvg")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FeaturePosture, "FeaturePosture")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (FilterDifferentiator, "FilterDifferentiator")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (GradientAscent, "GradientAscent")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Integrator, "Integrator")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Kalman, "Kalman")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Latch, "Latch")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (MadgwickAHRS, "MadgwickAHRS")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (ParameterServer, "ParameterServer")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (RobotSimu, "RobotSimu")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Segment, "Segment")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SwitchBool, "SwitchBoolean")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SwitchMatrixHomogeneous, "SwitchMatrixHomogeneous")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SwitchVector, "SwitchVector")

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (VisualPointProjecter, "VisualPointProjecter")

std::string	force_default_rtn ("Force name not found")

std::shared_ptr< std::vector< std::string > >	getListOfRobots ()

RobotUtilShrPtr	getRobotUtil (std::string &robotName)

bool	isNameInRobotUtil (std::string &robotName)

std::string	joint_default_rtn ("Joint name not found")

Flags	operator& (const Flags &f1, const Flags &f2)

ostream &	operator<< (ostream &os, const ExceptionAbstract &error)

std::ostream &	operator<< (std::ostream &os, const Flags &fl)

std::ostream &	operator<< (std::ostream &os, const MultiBound &m)

SOT_CORE_EXPORT std::ostream &	operator<< (std::ostream &os, const VectorMultiBound &v)

std::istream &	operator>> (std::istream &is, Flags &fl)

std::istream &	operator>> (std::istream &is, MultiBound &m)

SOT_CORE_EXPORT std::istream &	operator>> (std::istream &os, VectorMultiBound &v)

Flags	operator\| (const Flags &f1, const Flags &f2)

RobotUtilShrPtr	RefVoidRobotUtil ()

	REGISTER_BINARY_OP (Comparison< double >, CompareDouble)

	REGISTER_BINARY_OP (Composer, Compose_R_and_T)

	REGISTER_BINARY_OP (ConvolutionTemporal, ConvolutionTemporal)

	REGISTER_BINARY_OP (MatrixComparison< Vector >, CompareVector)

	REGISTER_BINARY_OP (Multiplier_double_vector, Multiply_double_vector)

	REGISTER_BINARY_OP (Multiplier_matrix_vector, Multiply_matrix_vector)

	REGISTER_BINARY_OP (Multiplier_matrixHomo_vector, Multiply_matrixHomo_vector)

	REGISTER_BINARY_OP (Multiplier_matrixTwist_vector, Multiply_matrixTwist_vector)

	REGISTER_BINARY_OP (Substraction< double >, Substract_of_double)

	REGISTER_BINARY_OP (Substraction< dynamicgraph::Matrix >, Substract_of_matrix)

	REGISTER_BINARY_OP (Substraction< dynamicgraph::Vector >, Substract_of_vector)

	REGISTER_BINARY_OP (VectorStack, Stack_of_vector)

	REGISTER_BINARY_OP (WeightedAdder< double >, WeightAdd_of_double)

	REGISTER_BINARY_OP (WeightedAdder< dynamicgraph::Matrix >, WeightAdd_of_matrix)

	REGISTER_BINARY_OP (WeightedAdder< dynamicgraph::Vector >, WeightAdd_of_vector)

	REGISTER_UNARY_OP (Diagonalizer, MatrixDiagonal)

	REGISTER_UNARY_OP (HomoToMatrix, HomoToMatrix)

	REGISTER_UNARY_OP (HomoToRotation, HomoToRotation)

	REGISTER_UNARY_OP (HomoToTwist, HomoToTwist)

	REGISTER_UNARY_OP (Inverser< Matrix >, Inverse_of_matrix)

	REGISTER_UNARY_OP (Inverser< MatrixHomogeneous >, Inverse_of_matrixHomo)

	REGISTER_UNARY_OP (Inverser< MatrixTwist >, Inverse_of_matrixtwist)

	REGISTER_UNARY_OP (InverserQuaternion, Inverse_of_unitquat)

	REGISTER_UNARY_OP (InverserRotation, Inverse_of_matrixrotation)

	REGISTER_UNARY_OP (MatrixColumnSelector, Selec_column_of_matrix)

	REGISTER_UNARY_OP (MatrixHomoToPose, MatrixHomoToPose)

	REGISTER_UNARY_OP (MatrixHomoToPoseQuaternion, MatrixHomoToPoseQuaternion)

	REGISTER_UNARY_OP (MatrixHomoToPoseRollPitchYaw, MatrixHomoToPoseRollPitchYaw)

	REGISTER_UNARY_OP (MatrixHomoToPoseUTheta, MatrixHomoToPoseUTheta)

	REGISTER_UNARY_OP (MatrixHomoToSE3Vector, MatrixHomoToSE3Vector)

	REGISTER_UNARY_OP (MatrixSelector, Selec_of_matrix)

	REGISTER_UNARY_OP (MatrixToHomo, MatrixToHomo)

	REGISTER_UNARY_OP (MatrixToQuaternion, MatrixToQuaternion)

	REGISTER_UNARY_OP (MatrixToRPY, MatrixToRPY)

	REGISTER_UNARY_OP (MatrixToUTheta, MatrixToUTheta)

	REGISTER_UNARY_OP (MatrixTranspose, MatrixTranspose)

	REGISTER_UNARY_OP (Normalize, Norm_of_vector)

	REGISTER_UNARY_OP (PoseQuaternionToMatrixHomo, PoseQuaternionToMatrixHomo)

	REGISTER_UNARY_OP (PoseRollPitchYawToMatrixHomo, PoseRollPitchYawToMatrixHomo)

	REGISTER_UNARY_OP (PoseRollPitchYawToPoseUTheta, PoseRollPitchYawToPoseUTheta)

	REGISTER_UNARY_OP (PoseUThetaToMatrixHomo, PoseUThetaToMatrixHomo)

	REGISTER_UNARY_OP (QuaternionToMatrix, QuaternionToMatrix)

	REGISTER_UNARY_OP (QuaternionToRPY, QuaternionToRPY)

	REGISTER_UNARY_OP (RPYToMatrix, RPYToMatrix)

	REGISTER_UNARY_OP (RPYToQuaternion, RPYToQuaternion)

	REGISTER_UNARY_OP (SE3VectorToMatrixHomo, SE3VectorToMatrixHomo)

	REGISTER_UNARY_OP (SkewSymToVector, SkewSymToVector)

	REGISTER_UNARY_OP (UThetaToQuaternion, UThetaToQuaternion)

	REGISTER_UNARY_OP (VectorComponent, Component_of_vector)

	REGISTER_UNARY_OP (VectorSelecter, Selec_of_vector)

	REGISTER_VARIADIC_OP (AdderVariadic< double >, Add_of_double)

	REGISTER_VARIADIC_OP (AdderVariadic< Matrix >, Add_of_matrix)

	REGISTER_VARIADIC_OP (AdderVariadic< Vector >, Add_of_vector)

	REGISTER_VARIADIC_OP (BoolOp< 0 >, And)

	REGISTER_VARIADIC_OP (BoolOp< 1 >, Or)

	REGISTER_VARIADIC_OP (Multiplier< double >, Multiply_of_double)

	REGISTER_VARIADIC_OP (Multiplier< Matrix >, Multiply_of_matrix)

	REGISTER_VARIADIC_OP (Multiplier< MatrixHomogeneous >, Multiply_of_matrixHomo)

	REGISTER_VARIADIC_OP (Multiplier< MatrixRotation >, Multiply_of_matrixrotation)

	REGISTER_VARIADIC_OP (Multiplier< MatrixTwist >, Multiply_of_matrixtwist)

	REGISTER_VARIADIC_OP (Multiplier< Vector >, Multiply_of_vector)

	REGISTER_VARIADIC_OP (Multiplier< VectorQuaternion >, Multiply_of_quaternion)

	REGISTER_VARIADIC_OP (VectorMix, Mix_of_vector)

	SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN (FIRFilter, double, double, double_double, "FIRFilter") SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(FIRFilter

FIRFilter	SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN (FIRFilter, Vector, Matrix, vec_mat, "FIRFilter") template<> void FIRFilter< Vector

	SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER (IntegratorEuler, double, double, "IntegratorEulerDoubleDouble") SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER(IntegratorEuler

IntegratorEulerVectorMatrix	SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER (IntegratorEuler, Vector, double, "IntegratorEulerVectorDouble") template class IntegratorEuler< double

void	sotDEBUGF (const char *,...)

void	sotDEBUGF (const int, const char *,...)

void	sotERRORF (const char *,...)

void	sotERRORF (const int, const char *,...)

void	sotTDEBUGF (const char *,...)

void	sotTDEBUGF (const int, const char *,...)

Index	VoidIndex (-1)

Variables
__sotDebug_init	__sotDebug_initialisator

const typedef Eigen::Map< const MatrixRXd >	const_SigMatrixXd

const typedef Eigen::Map< const Eigen::VectorXd >	const_SigVectorXd

const typedef Eigen::Ref< const Eigen::MatrixXd >	ConstRefMatrix

const typedef Eigen::Ref< const Eigen::VectorXd > &	ConstRefVector

	CONTROL_SIZE

const std::string	ControlInput_s []

std::ofstream	debugfile

	double

	Matrix

	POSITION_CONTROL

	R3xSO3Representation

	SE3Representation

static std::map< std::string, RobotUtilShrPtr >	sgl_map_name_to_robot_util

SOT_CORE_EXPORT DebugTrace	sotDEBUGFLOW

DebugTrace	sotDEBUGFLOW (debugfile)

SOT_CORE_EXPORT DebugTrace	sotERRORFLOW

DebugTrace	sotERRORFLOW (debugfile)

	TORQUE_CONTROL

	vec_double

	Vector

	VELOCITY_CONTROL

ForceLimits	VoidForceLimits

JointLimits	VoidJointLimits

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables