11 #ifndef __sot_core_admittance_control_op_point_H__ 12 #define __sot_core_admittance_control_op_point_H__ 19 #if defined(admittance_control_op_point_EXPORTS) 20 #define ADMITTANCECONTROLOPPOINT_EXPORT __declspec(dllexport) 22 #define ADMITTANCECONTROLOPPOINT_EXPORT __declspec(dllimport) 25 #define ADMITTANCECONTROLOPPOINT_EXPORT 32 #include <dynamic-graph/signal-helper.h> 36 #include "pinocchio/spatial/force.hpp" 37 #include "pinocchio/spatial/motion.hpp" 38 #include "pinocchio/spatial/se3.hpp" 60 :
public ::dynamicgraph::Entity {
61 DYNAMIC_GRAPH_ENTITY_DECL();
64 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73 void init(
const double &dt);
77 DECLARE_SIGNAL_IN(Kp, dynamicgraph::Vector);
79 DECLARE_SIGNAL_IN(Kd, dynamicgraph::Vector);
81 DECLARE_SIGNAL_IN(dqSaturation, dynamicgraph::Vector);
83 DECLARE_SIGNAL_IN(force, dynamicgraph::Vector);
85 DECLARE_SIGNAL_IN(w_forceDes, dynamicgraph::Vector);
93 DECLARE_SIGNAL_INNER(w_force, dynamicgraph::Vector);
95 DECLARE_SIGNAL_INNER(w_dq, dynamicgraph::Vector);
98 DECLARE_SIGNAL_OUT(dq, dynamicgraph::Vector);
107 virtual void display(std::ostream &os)
const;
127 #endif // #ifndef __sot_core_admittance_control_op_point_H__ Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:75
Admittance controller for an operational point wrt to a force sensor. It can be a point of the model ...
Definition: admittance-control-op-point.hh:59
bool m_initSucceeded
True if the entity has been successfully initialized.
Definition: admittance-control-op-point.hh:113
dynamicgraph::Vector m_w_dq
Internal state.
Definition: admittance-control-op-point.hh:115
int m_n
Dimension of the force signals and of the output.
Definition: admittance-control-op-point.hh:111
#define ADMITTANCECONTROLOPPOINT_EXPORT
Definition: admittance-control-op-point.hh:25
double m_dt
Time step of the control.
Definition: admittance-control-op-point.hh:117
double m_mass
Definition: admittance-control-op-point.hh:119
Definition: abstract-sot-external-interface.hh:17