renamed JointAdmittanceController to AdmittanceController

include/sot/talos_balance/joint-admittance-controller.hh → include/sot/talos_balance/admittance-controller.hh

@@ -14,21 +14,21 @@
  * with sot-talos-balance.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#ifndef __sot_talos_balance_joint_admittance_controller_H__
-#define __sot_talos_balance_joint_admittance_controller_H__
+#ifndef __sot_talos_balance_admittance_controller_H__
+#define __sot_talos_balance_admittance_controller_H__
 
 /* --------------------------------------------------------------------- */
 /* --- API ------------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
 #if defined (WIN32)
-#  if defined (joint_admittance_controller_EXPORTS)
-#    define JOINTADMITTANCECONTROLLER_EXPORT __declspec(dllexport)
+#  if defined (admittance_controller_EXPORTS)
+#    define ADMITTANCECONTROLLER_EXPORT __declspec(dllexport)
 #  else
-#    define JOINTADMITTANCECONTROLLER_EXPORT __declspec(dllimport)
+#    define ADMITTANCECONTROLLER_EXPORT __declspec(dllimport)
 #  endif
 #else
-#  define JOINTADMITTANCECONTROLLER_EXPORT
+#  define ADMITTANCECONTROLLER_EXPORT
 #endif
 
 
@@ -49,7 +49,7 @@ namespace dynamicgraph {
       /* --- CLASS ----------------------------------------------------------- */
       /* --------------------------------------------------------------------- */
 
-      class JOINTADMITTANCECONTROLLER_EXPORT JointAdmittanceController
+      class ADMITTANCECONTROLLER_EXPORT AdmittanceController
 	                         : public ::dynamicgraph::Entity
       {
         DYNAMIC_GRAPH_ENTITY_DECL();
@@ -58,7 +58,7 @@ namespace dynamicgraph {
         EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
         /* --- CONSTRUCTOR ---- */
-        JointAdmittanceController( const std::string & name );
+        AdmittanceController( const std::string & name );
 
         void init(const double & dt, const unsigned & n);
 
@@ -79,7 +79,7 @@ namespace dynamicgraph {
 
         void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
         {
-          getLogger().sendMsg("[JointAdmittanceController-"+name+"] "+msg, t, file, line);
+          getLogger().sendMsg("[AdmittanceController-"+name+"] "+msg, t, file, line);
         }
 
       protected:
@@ -89,7 +89,7 @@ namespace dynamicgraph {
         dynamicgraph::Vector m_q; // internal state
         double m_dt;
 
-      }; // class JointAdmittanceController
+      }; // class AdmittanceController
 
     }    // namespace talos_balance
   }      // namespace sot
@@ -97,4 +97,4 @@ namespace dynamicgraph {
 
 
 
-#endif // #ifndef __sot_talos_balance_joint_admittance_controller_H__
+#endif // #ifndef __sot_talos_balance_admittance_controller_H__

python/sot_talos_balance/create_entities_utils.py

@@ -13,7 +13,7 @@ from dynamic_graph.sot.core.operator import Mix_of_vector
 from dynamic_graph.sot.core.operator import Selec_of_vector
 from sot_talos_balance.nd_trajectory_generator import NdTrajectoryGenerator
 from sot_talos_balance.joint_position_controller import JointPositionController
-from sot_talos_balance.joint_admittance_controller import JointAdmittanceController
+from sot_talos_balance.admittance_controller import AdmittanceController
 from sot_talos_balance.dummy_dcm_estimator import DummyDcmEstimator
 from sot_talos_balance.com_admittance_controller import ComAdmittanceController
 from sot_talos_balance.dcm_controller import DcmController
@@ -72,7 +72,7 @@ def create_joint_controller(Kp):
     return controller
 
 def create_joint_admittance_controller(joint,Kp,dt,robot):
-    controller = JointAdmittanceController("jadmctrl")
+    controller = AdmittanceController("jadmctrl")
     controller.Kp.value = Kp
 
     robot.stateselec = Selec_of_vector("state_selec")

src/CMakeLists.txt

@@ -41,7 +41,7 @@ SET(plugins
     dcm-controller
     dummy-dcm-estimator
     com-admittance-controller
-    joint-admittance-controller
+    admittance-controller
     joint-position-controller
     nd-trajectory-generator
     base-estimator

src/joint-admittance-controller.cpp → src/admittance-controller.cpp

@@ -14,7 +14,7 @@
  * with sot-talos-balance.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "sot/talos_balance/joint-admittance-controller.hh"
+#include "sot/talos_balance/admittance-controller.hh"
 
 #include <sot/core/debug.hh>
 #include <dynamic-graph/factory.h>
@@ -33,8 +33,8 @@ namespace dynamicgraph
       using namespace dg;
       using namespace dg::command;
 
-//Size to be aligned                                        "-------------------------------------------------------"
-#define PROFILE_JOINTADMITTANCECONTROLLER_DQREF_COMPUTATION "JointAdmittanceController: dqRef computation           "
+//Size to be aligned                                   "-------------------------------------------------------"
+#define PROFILE_ADMITTANCECONTROLLER_DQREF_COMPUTATION "AdmittanceController: dqRef computation                "
 
 #define INPUT_SIGNALS     m_KpSIN << m_stateSIN << m_tauSIN << m_tauDesSIN
 
@@ -42,16 +42,16 @@ namespace dynamicgraph
 
       /// Define EntityClassName here rather than in the header file
       /// so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION.
-      typedef JointAdmittanceController EntityClassName;
+      typedef AdmittanceController EntityClassName;
 
       /* --- DG FACTORY ---------------------------------------------------- */
-      DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(JointAdmittanceController,
-                                         "JointAdmittanceController");
+      DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(AdmittanceController,
+                                         "AdmittanceController");
 
       /* ------------------------------------------------------------------- */
       /* --- CONSTRUCTION -------------------------------------------------- */
       /* ------------------------------------------------------------------- */
-      JointAdmittanceController::JointAdmittanceController(const std::string& name)
+      AdmittanceController::AdmittanceController(const std::string& name)
                       : Entity(name)
                       , CONSTRUCT_SIGNAL_IN(Kp, dynamicgraph::Vector)
                       , CONSTRUCT_SIGNAL_IN(state, dynamicgraph::Vector)
@@ -64,11 +64,11 @@ namespace dynamicgraph
         Entity::signalRegistration( INPUT_SIGNALS << OUTPUT_SIGNALS );
 
         /* Commands. */
-        addCommand("init", makeCommandVoid2(*this, &JointAdmittanceController::init, docCommandVoid2("Initialize the entity.","time step","Number of elements")));
-        addCommand("setPosition", makeCommandVoid1(*this, &JointAdmittanceController::setPosition, docCommandVoid1("Set initial reference position.","Initial position")));
+        addCommand("init", makeCommandVoid2(*this, &AdmittanceController::init, docCommandVoid2("Initialize the entity.","time step","Number of elements")));
+        addCommand("setPosition", makeCommandVoid1(*this, &AdmittanceController::setPosition, docCommandVoid1("Set initial reference position.","Initial position")));
       }
 
-      void JointAdmittanceController::init(const double & dt, const unsigned & n)
+      void AdmittanceController::init(const double & dt, const unsigned & n)
       {
         if(n<1)
           return SEND_MSG("n must be at least 1", MSG_TYPE_ERROR);
@@ -87,7 +87,7 @@ namespace dynamicgraph
         m_initSucceeded = true;
       }
 
-      void JointAdmittanceController::setPosition(const dynamicgraph::Vector & state)
+      void AdmittanceController::setPosition(const dynamicgraph::Vector & state)
       {
         m_q = state;
       }
@@ -104,7 +104,7 @@ namespace dynamicgraph
           return s;
         }
 
-        getProfiler().start(PROFILE_JOINTADMITTANCECONTROLLER_DQREF_COMPUTATION);
+        getProfiler().start(PROFILE_ADMITTANCECONTROLLER_DQREF_COMPUTATION);
 
         const Vector & tauDes = m_tauDesSIN(iter);
         const Vector & tau = m_tauSIN(iter);
@@ -119,7 +119,7 @@ namespace dynamicgraph
 
         s = dqRef;
 
-        getProfiler().stop(PROFILE_JOINTADMITTANCECONTROLLER_DQREF_COMPUTATION);
+        getProfiler().stop(PROFILE_ADMITTANCECONTROLLER_DQREF_COMPUTATION);
 
         return s;
       }
@@ -150,9 +150,9 @@ namespace dynamicgraph
       /* --- ENTITY -------------------------------------------------------- */
       /* ------------------------------------------------------------------- */
 
-      void JointAdmittanceController::display(std::ostream& os) const
+      void AdmittanceController::display(std::ostream& os) const
       {
-        os << "JointAdmittanceController " << getName();
+        os << "AdmittanceController " << getName();
         try
         {
           getProfiler().report_all(3, os);