From 3bb6ef852c21c68fb17f3fee64b9e3262e65ffd5 Mon Sep 17 00:00:00 2001
From: Gabriele Buondonno <gbuondon@laas.fr>
Date: Mon, 21 Jan 2019 15:10:56 +0100
Subject: [PATCH] renamed JointAdmittanceController to AdmittanceController
---
...controller.hh => admittance-controller.hh} | 22 +++++++-------
.../create_entities_utils.py | 4 +--
src/CMakeLists.txt | 2 +-
...ntroller.cpp => admittance-controller.cpp} | 30 +++++++++----------
4 files changed, 29 insertions(+), 29 deletions(-)
rename include/sot/talos_balance/{joint-admittance-controller.hh => admittance-controller.hh} (81%)
rename src/{joint-admittance-controller.cpp => admittance-controller.cpp} (78%)
diff --git a/include/sot/talos_balance/joint-admittance-controller.hh b/include/sot/talos_balance/admittance-controller.hh
similarity index 81%
rename from include/sot/talos_balance/joint-admittance-controller.hh
rename to include/sot/talos_balance/admittance-controller.hh
index b8a3ca5..1699238 100644
--- a/include/sot/talos_balance/joint-admittance-controller.hh
+++ b/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__
diff --git a/python/sot_talos_balance/create_entities_utils.py b/python/sot_talos_balance/create_entities_utils.py
index 0ebfe0f..3bf34b7 100644
--- a/python/sot_talos_balance/create_entities_utils.py
+++ b/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")
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index fd00a23..924acc0 100644
--- a/src/CMakeLists.txt
+++ b/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
diff --git a/src/joint-admittance-controller.cpp b/src/admittance-controller.cpp
similarity index 78%
rename from src/joint-admittance-controller.cpp
rename to src/admittance-controller.cpp
index 8e87df9..f38322e 100644
--- a/src/joint-admittance-controller.cpp
+++ b/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);
--
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