10 #ifndef __SOT_SOTGRIPPERCONTROL_H__ 11 #define __SOT_SOTGRIPPERCONTROL_H__ 18 #include <dynamic-graph/linear-algebra.h> 21 #include <dynamic-graph/all-signals.h> 22 #include <dynamic-graph/entity.h> 34 #if defined(gripper_control_EXPORTS) 35 #define SOTGRIPPERCONTROL_EXPORT __declspec(dllexport) 37 #define SOTGRIPPERCONTROL_EXPORT __declspec(dllimport) 40 #define SOTGRIPPERCONTROL_EXPORT 69 void computeIncrement(
const dynamicgraph::Vector &torques,
70 const dynamicgraph::Vector &torqueLimits,
71 const dynamicgraph::Vector ¤tNormVel);
74 dynamicgraph::Vector &computeDesiredPosition(
75 const dynamicgraph::Vector ¤tPos,
76 const dynamicgraph::Vector &desiredPos,
77 const dynamicgraph::Vector &torques,
78 const dynamicgraph::Vector &torqueLimits,
79 dynamicgraph::Vector &referencePos);
85 static dynamicgraph::Vector &selector(
const dynamicgraph::Vector &fullsize,
87 dynamicgraph::Vector &desPos);
95 :
public dynamicgraph::Entity,
97 DYNAMIC_GRAPH_ENTITY_DECL();
107 virtual std::string getDocString()
const;
113 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
torqueSIN;
119 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
124 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
128 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
134 void setOffset(
const double &value);
140 #endif // #ifndef __SOT_SOTGRIPPERCONTROL_H__ dynamicgraph::SignalPtr< Flags, int > selectionSIN
Definition: gripper-control.hh:115
dynamicgraph::Vector factor
The multiplication.
Definition: gripper-control.hh:61
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > positionReduceSOUT
Definition: gripper-control.hh:120
Definition: gripper-control.hh:94
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > torqueLimitSIN
Definition: gripper-control.hh:114
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > torqueReduceSOUT
Definition: gripper-control.hh:122
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > torqueLimitReduceSOUT
Definition: gripper-control.hh:125
static const double OFFSET_DEFAULT
Definition: gripper-control.hh:59
double offset
Definition: gripper-control.hh:58
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > desiredPositionSOUT
Definition: gripper-control.hh:129
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionFullSizeSIN
Definition: gripper-control.hh:118
#define SOTGRIPPERCONTROL_EXPORT
Definition: gripper-control.hh:40
The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping t...
Definition: gripper-control.hh:56
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > torqueSIN
Definition: gripper-control.hh:113
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > torqueLimitFullSizeSIN
Definition: gripper-control.hh:123
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > torqueFullSizeSIN
Definition: gripper-control.hh:121
bool calibrationStarted
Definition: gripper-control.hh:100
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionDesSIN
Definition: gripper-control.hh:112
Definition: abstract-sot-external-interface.hh:17
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionSIN
Definition: gripper-control.hh:111