16 #include <pinocchio/fwd.hpp> 19 #include <dynamic-graph/linear-algebra.h> 24 #include <dynamic-graph/all-signals.h> 25 #include <dynamic-graph/entity.h> 48 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
63 bool withForceSignals[4];
79 Device(
const std::string &name);
83 virtual void setStateSize(
const unsigned int &size);
84 virtual void setState(
const dynamicgraph::Vector &st);
85 void setVelocitySize(
const unsigned int &size);
86 virtual void setVelocity(
const dynamicgraph::Vector &vel);
87 virtual void setSecondOrderIntegration();
88 virtual void setNoIntegration();
89 virtual void setControlInputType(
const std::string &cit);
90 virtual void increment(
const double &dt = 5e-2);
94 void setSanityCheck(
const bool &enableCheck);
95 void setPositionBounds(
const Vector &lower,
const Vector &upper);
96 void setVelocityBounds(
const Vector &lower,
const Vector &upper);
97 void setTorqueBounds(
const Vector &lower,
const Vector &upper);
104 virtual void display(std::ostream &os)
const;
105 virtual void cmdDisplay();
113 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
controlSIN;
115 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
zmpSIN;
119 dynamicgraph::Signal<dynamicgraph::Vector, int>
stateSOUT;
139 dynamicgraph::Signal<dynamicgraph::Vector, int> *forcesSOUT[4];
147 void integrateRollPitchYaw(dynamicgraph::Vector &state,
148 const dynamicgraph::Vector &control,
double dt);
163 virtual void integrate(
const double &dt);
170 virtual void setRoot(
const dynamicgraph::Matrix &root);
176 dynamicgraph::Vector forceZero6;
virtual const std::string & getClassName(void) const
Definition: device.hh:48
SOT_CORE_EXPORT friend std::ostream & operator<<(std::ostream &os, const Device &r)
Definition: device.hh:106
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:74
dynamicgraph::Vector vel_control_
Definition: device.hh:61
dynamicgraph::Signal< dynamicgraph::Vector, int > robotState_
Definition: device.hh:135
dynamicgraph::Signal< dynamicgraph::Vector, int > pseudoTorqueSOUT
Definition: device.hh:142
dynamicgraph::Vector state_
Definition: device.hh:58
PeriodicCall & periodicCallBefore()
Definition: device.hh:100
ControlInput
Define the type of input expected by the robot.
Definition: device.hh:32
dynamicgraph::Signal< dynamicgraph::Vector, int > ZMPPreviousControllerSOUT
The ZMP reference send by the previous controller.
Definition: device.hh:126
dynamicgraph::Signal< dynamicgraph::Vector, int > robotVelocity_
Motor velocities.
Definition: device.hh:137
PeriodicCall periodicCallAfter_
Definition: device.hh:65
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > controlSIN
Definition: device.hh:113
#define SOT_CORE_EXPORT
Definition: api.hh:20
const std::string ControlInput_s[]
Definition: device.hh:39
Vector upperTorque_
Definition: device.hh:72
Vector upperVelocity_
Definition: device.hh:71
PeriodicCall & periodicCallAfter()
Definition: device.hh:101
Vector lowerPosition_
Definition: device.hh:73
dynamicgraph::Signal< dynamicgraph::Vector, int > motorcontrolSOUT
The current state of the robot from the command viewpoint.
Definition: device.hh:123
PeriodicCall periodicCallBefore_
Definition: device.hh:64
Definition: periodic-call.hh:36
Vector lowerTorque_
Definition: device.hh:75
double timestep_
Definition: device.hh:66
ForceSignalSource
Definition: device.hh:50
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > zmpSIN
Definition: device.hh:115
dynamicgraph::Signal< dynamicgraph::Vector, int > previousControlSOUT
Definition: device.hh:124
bool sanityCheck_
Definition: device.hh:60
Vector upperPosition_
Definition: device.hh:70
ControlInput controlInputType_
Definition: device.hh:62
dynamicgraph::Vector velocity_
Definition: device.hh:59
virtual void display(std::ostream &os) const
Vector lowerVelocity_
Definition: device.hh:74
dynamicgraph::Signal< MatrixRotation, int > attitudeSOUT
Definition: device.hh:121
MatrixHomogeneous ffPose_
Store Position of free flyer joint.
Definition: device.hh:150
static const std::string CLASS_NAME
Definition: device.hh:47
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > attitudeSIN
Definition: device.hh:114
dynamicgraph::Signal< dynamicgraph::Vector, int > stateSOUT
Definition: device.hh:119
Definition: abstract-sot-external-interface.hh:17
dynamicgraph::Signal< dynamicgraph::Vector, int > velocitySOUT
Definition: device.hh:120