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> 33 #if defined(gripper_control_EXPORTS) 34 #define SOTGRIPPERCONTROL_EXPORT __declspec(dllexport) 36 #define SOTGRIPPERCONTROL_EXPORT __declspec(dllimport) 39 #define SOTGRIPPERCONTROL_EXPORT 68 void computeIncrement(
const dynamicgraph::Vector &torques,
69 const dynamicgraph::Vector &torqueLimits,
70 const dynamicgraph::Vector ¤tNormVel);
73 dynamicgraph::Vector &
74 computeDesiredPosition(
const dynamicgraph::Vector ¤tPos,
75 const dynamicgraph::Vector &desiredPos,
76 const dynamicgraph::Vector &torques,
77 const dynamicgraph::Vector &torqueLimits,
78 dynamicgraph::Vector &referencePos);
84 static dynamicgraph::Vector &selector(
const dynamicgraph::Vector &fullsize,
86 dynamicgraph::Vector &desPos);
94 :
public dynamicgraph::Entity,
96 DYNAMIC_GRAPH_ENTITY_DECL();
106 virtual std::string getDocString()
const;
112 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
torqueSIN;
118 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
123 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
127 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
133 void setOffset(
const double &value);
139 #endif // #ifndef __SOT_SOTGRIPPERCONTROL_H__ dynamicgraph::SignalPtr< Flags, int > selectionSIN
Definition: gripper-control.hh:114
dynamicgraph::Vector factor
The multiplication.
Definition: gripper-control.hh:60
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > positionReduceSOUT
Definition: gripper-control.hh:119
Definition: gripper-control.hh:93
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > torqueLimitSIN
Definition: gripper-control.hh:113
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > torqueReduceSOUT
Definition: gripper-control.hh:121
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > torqueLimitReduceSOUT
Definition: gripper-control.hh:124
static const double OFFSET_DEFAULT
Definition: gripper-control.hh:58
double offset
Definition: gripper-control.hh:57
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > desiredPositionSOUT
Definition: gripper-control.hh:128
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionFullSizeSIN
Definition: gripper-control.hh:117
#define SOTGRIPPERCONTROL_EXPORT
Definition: gripper-control.hh:39
The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping t...
Definition: gripper-control.hh:55
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > torqueSIN
Definition: gripper-control.hh:112
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > torqueLimitFullSizeSIN
Definition: gripper-control.hh:122
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > torqueFullSizeSIN
Definition: gripper-control.hh:120
bool calibrationStarted
Definition: gripper-control.hh:99
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionDesSIN
Definition: gripper-control.hh:111
Definition: abstract-sot-external-interface.hh:17
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionSIN
Definition: gripper-control.hh:110