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  • lscherrer/sot-talos-balance
  • imaroger/sot-talos-balance
  • pfernbac/sot-talos-balance
  • ostasse/sot-talos-balance
  • gsaurel/sot-talos-balance
  • loco-3d/sot-talos-balance
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.git-blame-ignore-revs 0 → 100644
View file @ e217f893
# format (Guilhem Saurel, 2022-09-06)
2f737fa7d35bf5cdfb5a2294cd6205a7983e97df
# [Python] format (Guilhem Saurel, 2021-08-18)
319510a50ea4aeb2763481b87885f5d170cb335b
# [Python] format (Guilhem Saurel, 2020-11-14)
f29e3871bb6f6e9d1a39dc229ee2b38dad5964b3
# format (Guilhem Saurel, 2020-11-14)
d7667c2525593be74ef9150c583a81e53edc5e70
# clang-format (Olivier Stasse, 2020-04-25)
f184d9bd1b5f4a52f2e4669456614fa78ad92352
.gitlab-ci.yml 0 → 100644
View file @ e217f893
include: http://rainboard.laas.fr/project/sot-talos-balance/.gitlab-ci.yml
.gitmodules
View file @ e217f893
[submodule "cmake"]
path = cmake
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
.pre-commit-config.yaml 0 → 100644
View file @ e217f893
ci:
autoupdate_branch: 'devel'
repos:
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v16.0.3
hooks:
- id: clang-format
args: [--style=Google]
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.4.0
hooks:
- id: check-added-large-files
- id: check-ast
- id: check-executables-have-shebangs
- id: check-json
- id: check-merge-conflict
- id: check-symlinks
- id: check-toml
- id: check-yaml
- id: debug-statements
- id: destroyed-symlinks
- id: detect-private-key
- id: end-of-file-fixer
- id: fix-byte-order-marker
- id: mixed-line-ending
- id: trailing-whitespace
- repo: https://github.com/psf/black
rev: 23.3.0
hooks:
- id: black
- repo: https://github.com/PyCQA/flake8
rev: 6.0.0
hooks:
- id: flake8
- repo: https://github.com/cheshirekow/cmake-format-precommit
rev: v0.6.13
hooks:
- id: cmake-format
CMakeLists.txt
View file @ e217f893
# Copyright 2018, Gepetto team, LAAS-CNRS
# Copyright 2018, 2021, Gepetto team, LAAS-CNRS
#
# This file is part of sot-talos-balance.
# sot-talos-balance is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# sot-talos-balance is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/test.cmake)
SET(PROJECT_NAME sot-talos-balance)
SET(PROJECT_DESCRIPTION "Collection of dynamic-graph entities aimed at implementing balance control on talos.")
SET(PROJECT_URL "https://gepgitlab.laas.fr/loco-3d/sot-talos-balance")
# So that generated headers are in same place as standard ones
SET(CUSTOM_HEADER_DIR "sot/talos_balance")
SET(DOXYGEN_USE_MATHJAX YES)
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
#add_compile_options(-std=c++11) # CMake 2.8.12 or newer
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
SET(PKG_CONFIG_ADDITIONAL_VARIABLES
${PKG_CONFIG_ADDITIONAL_VARIABLES}
plugindirname
plugindir
)
SETUP_PROJECT()
OPTION (INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" ON)
IF(INITIALIZE_WITH_NAN)
MESSAGE(STATUS "Initialize with NaN all the Eigen entries.")
ADD_DEFINITIONS(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
ENDIF(INITIALIZE_WITH_NAN)
PKG_CONFIG_APPEND_LIBS("sot-talos-balance")
# Search for dependencies.
# Boost
SET(BOOST_COMPONENTS thread filesystem program_options unit_test_framework system regex)
OPTION (BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
OPTION (BUILD_TEST "Build dynamic-graph architecture tests" ON)
# name of the python module
IF(BUILD_PYTHON_INTERFACE)
SET(SOTTALOSBALANCE_PYNAME sot_talos_balance)
ENDIF(BUILD_PYTHON_INTERFACE)
IF(BUILD_PYTHON_INTERFACE)
FINDPYTHON()
SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
SET(${LIBRARY_NAME}_PYTHON_FILES python/*.py)
SET(PYTHON_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/${SOTTALOSBALANCE_PYNAME})
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIR})
ENDIF(BUILD_PYTHON_INTERFACE)
cmake_minimum_required(VERSION 3.1)
SEARCH_FOR_BOOST()
SEARCH_FOR_EIGEN()
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2")
ADD_REQUIRED_DEPENDENCY("parametric-curves")
SET(SOTTALOSBALANCE_LIB_NAME ${PROJECT_NAME})
SET(LIBRARY_NAME ${SOTTALOSBALANCE_LIB_NAME})
SET(${LIBRARY_NAME}_HEADERS
include/sot/talos_balance/utils/logger.hh
include/sot/talos_balance/stc-commands.hh
include/sot/talos_balance/utils/commands-helper.hh
include/sot/talos_balance/utils/signal-helper.hh
include/sot/talos_balance/utils/stop-watch.hh
include/sot/talos_balance/utils/vector-conversions.hh
include/sot/talos_balance/utils/causal-filter.hh
include/sot/talos_balance/utils/statistics.hh
include/sot/talos_balance/math/fwd.hh
include/sot/talos_balance/robot/fwd.hh
include/sot/talos_balance/robot/robot-wrapper.hh
)
#INSTALL(FILES ${${LIBRARY_NAME}_HEADERS}
# DESTINATION include/sot/talos_balance
# PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
SET(${LIBRARY_NAME}_SOURCES ${${LIBRARY_NAME}_HEADERS}
src/utils/logger.cpp
src/utils/causal-filter.cpp
src/utils/statistics.cpp
src/utils/stop-watch.cpp
src/robot/robot-wrapper.cpp
src/robot-utils.cpp
# Project properties
set(PROJECT_ORG loco-3d)
set(PROJECT_NAME sot-talos-balance)
set(PROJECT_DESCRIPTION
"Collection of dynamic-graph entities aimed at implementing balance control on talos."
)
ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
SET_TARGET_PROPERTIES(${LIBRARY_NAME}
PROPERTIES
SOVERSION ${PROJECT_VERSION}
INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} sot-core)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} parametric-curves)
IF(BUILD_PYTHON_INTERFACE)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph-python)
ENDIF(BUILD_PYTHON_INTERFACE)
IF(UNIX)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
ENDIF(UNIX)
IF(UNIX AND NOT APPLE)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pthread)
ENDIF(UNIX AND NOT APPLE)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION ${CMAKE_INSTALL_LIBDIR})
IF(BUILD_PYTHON_INTERFACE)
INSTALL(FILES python/${SOTTALOSBALANCE_PYNAME}/__init__.py
python/${SOTTALOSBALANCE_PYNAME}/main.py
python/${SOTTALOSBALANCE_PYNAME}/create_entities_utils.py
python/${SOTTALOSBALANCE_PYNAME}/meta_task_config.py
python/${SOTTALOSBALANCE_PYNAME}/meta_task_joint.py
python/${SOTTALOSBALANCE_PYNAME}/control_manager_conf.py
python/${SOTTALOSBALANCE_PYNAME}/motor_parameters.py
DESTINATION ${PYTHON_SITELIB}/${SOTTALOSBALANCE_PYNAME})
INSTALL(FILES python/${SOTTALOSBALANCE_PYNAME}/utils/__init__.py
python/${SOTTALOSBALANCE_PYNAME}/utils/plot_utils.py
python/${SOTTALOSBALANCE_PYNAME}/utils/sot_utils.py
python/${SOTTALOSBALANCE_PYNAME}/utils/filter_utils.py
python/${SOTTALOSBALANCE_PYNAME}/utils/run_test_utils.py
python/${SOTTALOSBALANCE_PYNAME}/utils/gazebo_utils.py
DESTINATION ${PYTHON_SITELIB}/${SOTTALOSBALANCE_PYNAME}/utils)
INSTALL(DIRECTORY python/${SOTTALOSBALANCE_PYNAME}/talos/
DESTINATION ${PYTHON_SITELIB}/${SOTTALOSBALANCE_PYNAME}/talos)
IF(BUILD_TEST)
INSTALL(FILES python/${SOTTALOSBALANCE_PYNAME}/test/__init__.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_config_feedback_gazebo.py
python/${SOTTALOSBALANCE_PYNAME}/test/appli_config_feedback_gazebo.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_static_sensorfeedback.py
python/${SOTTALOSBALANCE_PYNAME}/test/appli_static_sensorfeedback.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_static_feedback_gazebo.py
python/${SOTTALOSBALANCE_PYNAME}/test/appli_static_feedback_gazebo.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_COMTraj_feedback_gazebo.py
python/${SOTTALOSBALANCE_PYNAME}/test/appli_COMTraj_feedback_gazebo.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_COMTraj_sensorfeedback.py
python/${SOTTALOSBALANCE_PYNAME}/test/appli_COMTraj_sensorfeedback.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_COMTraj_checkfeedback_gazebo.py
python/${SOTTALOSBALANCE_PYNAME}/test/appli_COMTraj_checkfeedback_gazebo.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_ffSubscriber.py
python/${SOTTALOSBALANCE_PYNAME}/test/appli_ffSubscriber.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_zmpEstimator.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_dcmComControl.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_dcmComZmpControl.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_dcmZmpControl.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_comAdmittance.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_admittance_single_joint.py
python/${SOTTALOSBALANCE_PYNAME}/test/appli_admittance_single_joint.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_admittance_single_joint_velocity_based.py
python/${SOTTALOSBALANCE_PYNAME}/test/appli_admittance_single_joint_velocity_based.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_singleTraj.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_jointTrajGen.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_jointControl.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_COMTraj.py
python/${SOTTALOSBALANCE_PYNAME}/test/appli_COMTraj.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_COMTraj_tracer.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_param_server.py
python/${SOTTALOSBALANCE_PYNAME}/test/test_dcm_estimator.py
DESTINATION ${PYTHON_SITELIB}/${SOTTALOSBALANCE_PYNAME}/test)
ENDIF(BUILD_TEST)
ENDIF(BUILD_PYTHON_INTERFACE)
MACRO(DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE MODULENAME SUBMODULENAME LIBRARYNAME TARGETNAME)
# By default the __init__.py file is installed.
SET(INSTALL_INIT_PY 1)
SET(SOURCE_PYTHON_MODULE "cmake/dynamic_graph/python-module-py.cc")
IF("${SUBMODULENAME}" STREQUAL "")
SET(FULLMODULENAME "${MODULENAME}")
ELSE("${SUBMODULENAME}" STREQUAL "")
SET(FULLMODULENAME "${MODULENAME}/${SUBMODULENAME}")
ENDIF("${SUBMODULENAME}" STREQUAL "")
# Check if there is optional parameters.
set(extra_macro_args ${ARGN})
list(LENGTH extra_macro_args num_extra_args)
if( ${num_extra_args} GREATER 0)
list(GET extra_macro_args 0 INSTALL_INIT_PY)
if( ${num_extra_args} GREATER 1)
list(GET extra_macro_args 1 SOURCE_PYTHON_MODULE)
endif(${num_extra_args} GREATER 1)
endif(${num_extra_args} GREATER 0)
IF(NOT DEFINED PYTHONLIBS_FOUND)
FINDPYTHON()
ELSEIF(NOT ${PYTHONLIBS_FOUND} STREQUAL "TRUE")
MESSAGE(FATAL_ERROR "Python has not been found.")
ENDIF()
SET(PYTHON_MODULE ${TARGETNAME})
# We need to set this policy to old to accept wrap target.
CMAKE_POLICY(PUSH)
IF(POLICY CMP0037)
CMAKE_POLICY(SET CMP0037 OLD)
ENDIF()
ADD_LIBRARY(${PYTHON_MODULE}
MODULE
${PROJECT_SOURCE_DIR}/${SOURCE_PYTHON_MODULE})
FILE(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/src/${FULLMODULENAME})
SET_TARGET_PROPERTIES(${PYTHON_MODULE}
PROPERTIES PREFIX ""
OUTPUT_NAME ${FULLMODULENAME}/wrap
)
CMAKE_POLICY(POP)
TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${PUBLIC_KEYWORD} "-Wl,--no-as-needed")
TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${PUBLIC_KEYWORD} ${LIBRARYNAME} ${PYTHON_LIBRARY})
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
#
# Installation
#
SET(PYTHON_INSTALL_DIR ${PYTHON_SITELIB}/${FULLMODULENAME})
INSTALL(TARGETS ${PYTHON_MODULE}
DESTINATION
${PYTHON_INSTALL_DIR})
SET(ENTITY_CLASS_LIST "")
FOREACH (ENTITY ${NEW_ENTITY_CLASS})
SET(ENTITY_CLASS_LIST "${ENTITY_CLASS_LIST}${ENTITY}('')\n")
ENDFOREACH(ENTITY ${NEW_ENTITY_CLASS})
# Install if INSTALL_INIT_PY is set to 1
IF (${INSTALL_INIT_PY} EQUAL 1)
CONFIGURE_FILE(
${PROJECT_SOURCE_DIR}/cmake/dynamic_graph/submodule/__init__.py.cmake
${PROJECT_BINARY_DIR}/src/${FULLMODULENAME}/__init__.py
)
INSTALL(
FILES ${PROJECT_BINARY_DIR}/src/${FULLMODULENAME}/__init__.py
DESTINATION ${PYTHON_INSTALL_DIR}
)
ENDIF(${INSTALL_INIT_PY} EQUAL 1)
ENDMACRO(DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE)
MACRO(SOT_TALOS_BALANCE_PYTHON_MODULE SUBMODULENAME LIBRARYNAME TARGETNAME)
DYNAMIC_GRAPH_CUSTOM_PYTHON_MODULE("${SOTTALOSBALANCE_PYNAME}" "${SUBMODULENAME}" "${LIBRARYNAME}" "${TARGETNAME}")
ENDMACRO(SOT_TALOS_BALANCE_PYTHON_MODULE)
ADD_SUBDIRECTORY(src)
# ADD_SUBDIRECTORY(unittest)
SETUP_PROJECT_FINALIZE()
set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
# Project options
option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
option(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python bindings" OFF)
option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
option(INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
option(BUILD_ROS_PACKAGES "Build ros packages" ON)
# Project configuration
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
set(PROJECT_USE_CMAKE_EXPORT TRUE)
endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
set(CUSTOM_HEADER_DIR "sot/talos_balance")
set(CXX_DISABLE_WERROR TRUE)
set(DOXYGEN_USE_MATHJAX YES)
# Check if the submodule cmake have been initialized
set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
if(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
if(${CMAKE_VERSION} VERSION_LESS "3.14.0")
message(
FATAL_ERROR
"\nPlease run the following command first:\ngit submodule update --init\n"
)
else()
message(STATUS "JRL cmakemodules not found. Let's fetch it.")
include(FetchContent)
FetchContent_Declare(
"jrl-cmakemodules"
GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
FetchContent_MakeAvailable("jrl-cmakemodules")
FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
endif()
endif()
include("${JRL_CMAKE_MODULES}/base.cmake")
include("${JRL_CMAKE_MODULES}/boost.cmake")
set_default_cmake_build_type("RelWithDebInfo")
# Project definition
compute_project_args(PROJECT_ARGS LANGUAGES CXX C)
project(${PROJECT_NAME} ${PROJECT_ARGS})
check_minimal_cxx_standard(14 REQUIRED)
if(INITIALIZE_WITH_NAN)
message(STATUS "Initialize with NaN all the Eigen entries.")
add_definitions(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
endif(INITIALIZE_WITH_NAN)
# Project dependencies
if(BUILD_PYTHON_INTERFACE)
add_project_dependency(dynamic-graph-python 4.0.0 REQUIRED)
string(REGEX REPLACE "-" "_" PROJECT_NAME_UNDERSCORE ${PROJECT_NAME})
set(PY_NAME ${PROJECT_NAME_UNDERSCORE})
endif(BUILD_PYTHON_INTERFACE)
if(BUILD_TESTING)
find_package(Boost REQUIRED COMPONENTS unit_test_framework)
find_package(example-robot-data REQUIRED)
endif(BUILD_TESTING)
if(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
# Silence a warning about a deprecated use of boost bind by boost >= 1.73
# without dropping support for boost < 1.73
add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
endif()
add_project_dependency(dynamic-graph 4.4.0 REQUIRED)
add_project_dependency(sot-core REQUIRED)
add_project_dependency(eiquadprog REQUIRED)
add_project_dependency(parametric-curves REQUIRED)
# Verbosity level
if(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
add_definitions(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
endif(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
set(${LIBRARY_NAME}_HEADERS
include/${CUSTOM_HEADER_DIR}/utils/commands-helper.hh
include/${CUSTOM_HEADER_DIR}/utils/statistics.hh
include/${CUSTOM_HEADER_DIR}/math/fwd.hh
include/${CUSTOM_HEADER_DIR}/robot/fwd.hh
include/${CUSTOM_HEADER_DIR}/robot/robot-wrapper.hh
include/${CUSTOM_HEADER_DIR}/sdk_qualisys/Network.h
include/${CUSTOM_HEADER_DIR}/sdk_qualisys/RTPacket.h
include/${CUSTOM_HEADER_DIR}/sdk_qualisys/RTProtocol.h
include/${CUSTOM_HEADER_DIR}/sdk_qualisys/Markup.h)
set(${PROJECT_NAME}_SOURCES
src/utils/statistics.cpp src/robot/robot-wrapper.cpp
src/sdk_qualisys/Network.cpp src/sdk_qualisys/RTPacket.cpp
src/sdk_qualisys/RTProtocol.cpp src/sdk_qualisys/Markup.cpp)
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
target_link_libraries(
${PROJECT_NAME} PUBLIC sot-core::sot-core
parametric-curves::parametric-curves)
if(SUFFIX_SO_VERSION)
set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
endif(SUFFIX_SO_VERSION)
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
install(
TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
add_subdirectory(src)
if(BUILD_ROS_PACKAGES AND NOT INSTALL_PYTHON_INTERFACE_ONLY)
add_subdirectory(ros)
endif(BUILD_ROS_PACKAGES AND NOT INSTALL_PYTHON_INTERFACE_ONLY)
if(BUILD_TESTING)
add_subdirectory(tests)
endif(BUILD_TESTING)
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
install(FILES package.xml DESTINATION share/${PROJECT_NAME})
endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
LICENSE 0 → 100644
View file @ e217f893
BSD 2-Clause License
Copyright (c) 2019, loco-3d
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
README.md
View file @ e217f893
# sot-talos-balance
Coordination project for the control of the balance of Talos.
\ No newline at end of file
[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/sot-talos-balance/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/sot-talos-balance/commits/master)
[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/sot-talos-balance/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/stack-of-tasks/sot-talos-balance/master/coverage/)
[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/sot-talos-balance/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/sot-talos-balance)
Coordination project for the control of the balance of Talos.
## Installation procedure
Assuming you have all the dependencies correctly installed inside `/opt/openrobots`,
the package is installed as follows.
The detailed explanation of the commands is available in the documentation.
```
git clone --recursive git@github.com:loco-3d/sot-talos-balance.git
cd sot-talos-balance
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/openrobots ..
make -j4
make install
cmake @ 17cbc7f7
Subproject commit a33ae51993e5bc22ae2e5cd5131f85bd2ee6c8d1
Subproject commit 17cbc7f73afa4471ecf320d9ec8a2b07c4494f3a
doc/Doxyfile.extra.in 0 → 100644
View file @ e217f893
# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
# inherited members of a class in the documentation of that class as if those
# members were ordinary class members. Constructors, destructors and assignment
# operators of the base classes will not be shown.
INLINE_INHERITED_MEMB = NO
# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
# (but less readable) file names. This can be useful is your file systems
# doesn't support long names like on DOS, Mac, or CD-ROM.
SHORT_NAMES = NO
# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
# will interpret the first line (until the first dot) of a JavaDoc-style
# comment as the brief description. If set to NO, the JavaDoc
# comments will behave just like regular Qt-style comments
# (thus requiring an explicit @brief command for a brief description.)
JAVADOC_AUTOBRIEF = NO
# If MARKDOWN_SUPPORT is enabled (the default) then doxygen pre-processes all
# comments according to the Markdown format, which allows for more readable
# documentation. See http://daringfireball.net/projects/markdown/ for details.
# The output of markdown processing is further processed by doxygen, so you
# can mix doxygen, HTML, and XML commands with Markdown formatting.
# Disable only in case of backward compatibilities issues.
MARKDOWN_SUPPORT = YES
# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and
# unions are shown inside the group in which they are included (e.g. using
# @ingroup) instead of on a separate page (for HTML and Man pages) or
# section (for LaTeX and RTF).
INLINE_GROUPED_CLASSES = NO
# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
# is documented as struct, union, or enum with the name of the typedef. So
# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
# with name TypeT. When disabled the typedef will appear as a member of a file,
# namespace, or class. And the struct will be named TypeS. This can typically
# be useful for C code in case the coding convention dictates that all compound
# types are typedef'ed and only the typedef is referenced, never the tag name.
TYPEDEF_HIDES_STRUCT = NO
# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be
# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given
# their name and scope. Since this can be an expensive process and often the
# same symbol appear multiple times in the code, doxygen keeps a cache of
# pre-resolved symbols. If the cache is too small doxygen will become slower.
# If the cache is too large, memory is wasted. The cache size is given by this
# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0,
# corresponding to a cache size of 2^16 = 65536 symbols.
LOOKUP_CACHE_SIZE = 0
#---------------------------------------------------------------------------
# Build related configuration options
#---------------------------------------------------------------------------
# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
# documentation are documented, even if no documentation was available.
# Private class members and static file members will be hidden unless
# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
EXTRACT_ALL = YES
# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
# will be included in the documentation.
EXTRACT_PRIVATE = NO
# If the EXTRACT_STATIC tag is set to YES all static members of a file
# will be included in the documentation.
EXTRACT_STATIC = YES
# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
# defined locally in source files will be included in the documentation.
# If set to NO only classes defined in header files are included.
EXTRACT_LOCAL_CLASSES = YES
# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal scope will be included in the documentation.
EXTRACT_PACKAGE = NO
# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
# undocumented members of documented classes, files or namespaces.
# If set to NO (the default) these members will be included in the
# various overviews, but no documentation section is generated.
# This option has no effect if EXTRACT_ALL is enabled.
HIDE_UNDOC_MEMBERS = NO
# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
# undocumented classes that are normally visible in the class hierarchy.
# If set to NO (the default) these classes will be included in the various
# overviews. This option has no effect if EXTRACT_ALL is enabled.
HIDE_UNDOC_CLASSES = NO
# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
# friend (class|struct|union) declarations.
# If set to NO (the default) these declarations will be included in the
# documentation.
#HIDE_FRIEND_COMPOUNDS = NO
# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
# documentation blocks found inside the body of a function.
# If set to NO (the default) these blocks will be appended to the
# function's detailed documentation block.
HIDE_IN_BODY_DOCS = NO
# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
# file names in lower-case letters. If set to YES upper-case letters are also
# allowed. This is useful if you have classes or files whose names only differ
# in case and if your file system supports case sensitive file names. Windows
# and Mac users are advised to set this option to NO.
CASE_SENSE_NAMES = YES
# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
# will show members with their full class and namespace scopes in the
# documentation. If set to YES the scope will be hidden.
HIDE_SCOPE_NAMES = YES
# The INTERNAL_DOCS tag determines if documentation
# that is typed after a \internal command is included. If the tag is set
# to NO (the default) then the documentation will be excluded.
# Set it to YES to include the internal documentation.
INTERNAL_DOCS = YES
# The ENABLED_SECTIONS tag can be used to enable conditional
# documentation sections, marked by \if sectionname ... \endif.
ENABLED_SECTIONS = DEV
# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
# will sort the (detailed) documentation of file and class members
# alphabetically by member name. If set to NO the members will appear in
# declaration order.
SORT_MEMBER_DOCS = YES
# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
# brief documentation of file, namespace and class members alphabetically
# by member name. If set to NO (the default) the members will appear in
# declaration order.
SORT_BRIEF_DOCS = YES
# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen
# will sort the (brief and detailed) documentation of class members so that
# constructors and destructors are listed first. If set to NO (the default)
# the constructors will appear in the respective orders defined by
# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS.
# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO
# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
SORT_MEMBERS_CTORS_1ST = YES
# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to
# do proper type resolution of all parameters of a function it will reject a
# match between the prototype and the implementation of a member function even
# if there is only one candidate or it is obvious which candidate to choose
# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen
# will still accept a match between prototype and implementation in such cases.
STRICT_PROTO_MATCHING = NO
# The GENERATE_TESTLIST tag can be used to enable (YES) or
# disable (NO) the test list. This list is created by putting \test
# commands in the documentation.
GENERATE_TESTLIST = YES
# The GENERATE_BUGLIST tag can be used to enable (YES) or
# disable (NO) the bug list. This list is created by putting \bug
# commands in the documentation.
GENERATE_BUGLIST = YES
# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
# disable (NO) the deprecated list. This list is created by putting
# \deprecated commands in the documentation.
GENERATE_DEPRECATEDLIST= YES
# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
# the initial value of a variable or define consists of for it to appear in
# the documentation. If the initializer consists of more lines than specified
# here it will be hidden. Use a value of 0 to hide initializers completely.
# The appearance of the initializer of individual variables and defines in the
# documentation can be controlled using \showinitializer or \hideinitializer
# command in the documentation regardless of this setting.
MAX_INITIALIZER_LINES = 30
# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
# at the bottom of the documentation of classes and structs. If set to YES the
# list will mention the files that were used to generate the documentation.
SHOW_USED_FILES = YES
# Set the SHOW_NAMESPACES tag to NO to disable the generation of the
# Namespaces page.
# This will remove the Namespaces entry from the Quick Index
# and from the Folder Tree View (if specified). The default is YES.
SHOW_NAMESPACES = YES
# Set the SHOW_FILES tag to NO to disable the generation of the Files page.
# This will remove the Files entry from the Quick Index and from the
# Folder Tree View (if specified). The default is YES.
SHOW_FILES = YES
# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
# by doxygen. The layout file controls the global structure of the generated
# output files in an output format independent way. To create the layout file
# that represents doxygen's defaults, run doxygen with the -l option.
# You can optionally specify a file name after the option, if omitted
# DoxygenLayout.xml will be used as the name of the layout file.
LAYOUT_FILE =
#---------------------------------------------------------------------------
# configuration options related to warning and progress messages
#---------------------------------------------------------------------------
# The QUIET tag can be used to turn on/off the messages that are generated
# by doxygen. Possible values are YES and NO. If left blank NO is used.
QUIET = YES
# The WARNINGS tag can be used to turn on/off the warning messages that are
# generated by doxygen. Possible values are YES and NO. If left blank
# NO is used.
WARNINGS = YES
# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
# automatically be disabled.
WARN_IF_UNDOCUMENTED = NO
# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
# potential errors in the documentation, such as not documenting some
# parameters in a documented function, or documenting parameters that
# don't exist or using markup commands wrongly.
WARN_IF_DOC_ERROR = YES
# The WARN_NO_PARAMDOC option can be enabled to get warnings for
# functions that are documented, but have no documentation for their parameters
# or return value. If set to NO (the default) doxygen will only warn about
# wrong or incomplete parameter documentation, but not about the absence of
# documentation.
WARN_NO_PARAMDOC = NO
# The WARN_FORMAT tag determines the format of the warning messages that
# doxygen can produce. The string should contain the $file, $line, and $text
# tags, which will be replaced by the file and line number from which the
# warning originated and the warning text. Optionally the format may contain
# $version, which will be replaced by the version of the file (if it could
# be obtained via FILE_VERSION_FILTER)
WARN_FORMAT = "$file:$line: $text"
# The WARN_LOGFILE tag can be used to specify a file to which warning
# and error messages should be written. If left blank the output is written
# to stderr.
WARN_LOGFILE = @CMAKE_BINARY_DIR@/doc/doxygen.log
#---------------------------------------------------------------------------
# configuration options related to the input files
#---------------------------------------------------------------------------
# The INPUT tag can be used to specify the files and/or directories that contain
# documented source files. You may enter file names like "myfile.cpp" or
# directories like "/usr/src/myproject". Separate the files or directories
# with spaces.
INPUT = @CMAKE_SOURCE_DIR@/doc \
@CMAKE_SOURCE_DIR@/include \
@CMAKE_SOURCE_DIR@/src
# The RECURSIVE tag can be used to turn specify whether or not subdirectories
# should be searched for input files as well. Possible values are YES and NO.
# If left blank NO is used.
RECURSIVE = YES
# If the value of the INPUT tag contains directories, you can use the
# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
# and *.h) to filter out the source-files in the directories. If left
# blank the following patterns are tested:
# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx
# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90
FILE_PATTERNS = *.cc *.cpp *.h *.hpp *.hh *.dox *.md *.py
# The EXCLUDE tag can be used to specify files and/or directories that should be
# excluded from the INPUT source files. This way you can easily exclude a
# subdirectory from a directory tree whose root is specified with the INPUT tag.
# Note that relative paths are relative to the directory from which doxygen is
# run.
EXCLUDE =
# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
# directories that are symbolic links (a Unix file system feature) are excluded
# from the input.
EXCLUDE_SYMLINKS = YES
# If the value of the INPUT tag contains directories, you can use the
# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
# certain files from those directories. Note that the wildcards are matched
# against the file with absolute path, so to exclude all test directories
# for example use the pattern */test/*
EXCLUDE_PATTERNS += CMake* \
*.txt \
*.sh \
*.orig \
*.diff \
diff \
*~ \
*. \
*.sln \
*.sdf \
*.tmp \
*.vcxproj \
*.filters \
*.user \
*.suo
# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
# (namespaces, classes, functions, etc.) that should be excluded from the
# output. The symbol name can be a fully qualified name, a word, or if the
# wildcard * is used, a substring. Examples: ANamespace, AClass,
# AClass::ANamespace, ANamespace::*Test
EXCLUDE_SYMBOLS =
# The IMAGE_PATH tag can be used to specify one or more files or
# directories that contain image that are included in the documentation (see
# the \image command).
# IMAGE_PATH =
#---------------------------------------------------------------------------
# configuration options related to source browsing
#---------------------------------------------------------------------------
# If the SOURCE_BROWSER tag is set to YES then a list of source files will
# be generated. Documented entities will be cross-referenced with these sources.
# Note: To get rid of all source code in the generated output, make sure also
# VERBATIM_HEADERS is set to NO.
SOURCE_BROWSER = YES
# Setting the INLINE_SOURCES tag to YES will include the body
# of functions and classes directly in the documentation.
INLINE_SOURCES = NO
# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
# will generate a verbatim copy of the header file for each class for
# which an include is specified. Set to NO to disable this.
VERBATIM_HEADERS = YES
#---------------------------------------------------------------------------
# configuration options related to the alphabetical class index
#---------------------------------------------------------------------------
# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
# of all compounds will be generated. Enable this if the project
# contains a lot of classes, structs, unions or interfaces.
ALPHABETICAL_INDEX = YES
# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
# in which this list will be split (can be a number in the range [1..20])
COLS_IN_ALPHA_INDEX = 4
#---------------------------------------------------------------------------
# configuration options related to the HTML output
#---------------------------------------------------------------------------
# With the PROJECT_LOGO tag one can specify an logo or icon that is
# included in the documentation. The maximum height of the logo should not
# exceed 55 pixels and the maximum width should not exceed 200 pixels.
# Doxygen will copy the logo to the output directory.
# PROJECT_LOGO =
# HTML_EXTRA_FILES +=
# The HTML_HEADER tag can be used to specify a personal HTML header for
# each generated HTML page. If it is left blank doxygen will generate a
# standard header. Note that when using a custom header you are responsible
# for the proper inclusion of any scripts and style sheets that doxygen
# needs, which is dependent on the configuration options used.
# It is advised to generate a default header using "doxygen -w html
# header.html footer.html stylesheet.css YourConfigFile" and then modify
# that header. Note that the header is subject to change so you typically
# have to redo this when upgrading to a newer version of doxygen or when
# changing the value of configuration settings such as GENERATE_TREEVIEW!
HTML_HEADER = @PROJECT_SOURCE_DIR@/doc/header.html
# HTML_EXTRA_FILES +=
# The HTML_FOOTER tag can be used to specify a personal HTML footer for
# each generated HTML page. If it is left blank doxygen will generate a
# standard footer.
HTML_FOOTER =
# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
# style sheet that is used by each HTML page. It can be used to
# fine-tune the look of the HTML output. If the tag is left blank doxygen
# will generate a default style sheet. Note that doxygen will try to copy
# the style sheet file to the HTML output directory, so don't put your own
# style sheet in the HTML output directory as well, or it will be erased!
# NOTE: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag,
# as it is more robust and this tag (HTML_STYLESHEET)
# will in the future become obsolete.
#HTML_STYLESHEET = @PROJECT_SOURCE_DIR@/doc/package.css
# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
# cascading style sheets that are included after the standard style sheets
# created by doxygen. Using this option one can overrule certain style aspects.
# This is preferred over using HTML_STYLESHEET since it does not replace
# the standard style sheet and is therefore more robust against future updates.
# Doxygen will copy the style sheet files to the output directory.
HTML_EXTRA_STYLESHEET = @PROJECT_SOURCE_DIR@/doc/customdoxygen.css
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
# Doxygen will adjust the colors in the style sheet and background images
# according to this color. Hue is specified as an angle on a colorwheel,
# see http://en.wikipedia.org/wiki/Hue for more information.
# For instance the value 0 represents red, 60 is yellow, 120 is green,
# 180 is cyan, 240 is blue, 300 purple, and 360 is red again.
# The allowed range is 0 to 359.
# The default is 220.
HTML_COLORSTYLE_HUE = 220
# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of
# the colors in the HTML output. For a value of 0 the output will use
# grayscales only. A value of 255 will produce the most vivid colors.
HTML_COLORSTYLE_SAT = 100
# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to
# the luminance component of the colors in the HTML output. Values below
# 100 gradually make the output lighter, whereas values above 100 make
# the output darker. The value divided by 100 is the actual gamma applied,
# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2,
# and 100 does not change the gamma.
HTML_COLORSTYLE_GAMMA = 80
# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
# documentation will contain sections that can be hidden and shown after the
# page has loaded. For this to work a browser that supports
# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox
# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
HTML_DYNAMIC_SECTIONS = NO
# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of
# entries shown in the various tree structured indices initially; the user
# can expand and collapse entries dynamically later on. Doxygen will expand
# the tree to such a level that at most the specified number of entries are
# visible (unless a fully collapsed tree already exceeds this amount).
# So setting the number of entries 1 will produce a full collapsed tree by
# default. 0 is a special value representing an infinite number of entries
# and will result in a full expanded tree by default.
HTML_INDEX_NUM_ENTRIES = 100
# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
# should uniquely identify the documentation set bundle. This should be a
# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
# will append .docset to the name.
DOCSET_BUNDLE_ID = org.doxygen.@PACKAGE_NAME@
# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify
# the documentation publisher. This should be a reverse domain-name style
# string, e.g. com.mycompany.MyDocSet.documentation.
DOCSET_PUBLISHER_ID = fr.laas.gepetto
# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher.
DOCSET_PUBLISHER_NAME = Gepetto
# The QHP_NAMESPACE tag specifies the namespace to use when generating
# Qt Help Project output. For more information please see
# http://doc.trolltech.com/qthelpproject.html#namespace
QHP_NAMESPACE = org.doxygen.@PACKAGE_NAME@
# A unique identifier for the eclipse help plugin. When installing the plugin
# the directory name containing the HTML and XML files should also have
# this name.
ECLIPSE_DOC_ID = org.doxygen.@PACKAGE_NAME@
# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
# top of each HTML page. The value NO (the default) enables the index and
# the value YES disables it.
DISABLE_INDEX = YES
# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
# structure should be generated to display hierarchical information.
# If the tag value is set to YES, a side panel will be generated
# containing a tree-like index structure (just like the one that
# is generated for HTML Help). For this to work a browser that supports
# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser).
# Windows users are probably better off using the HTML help feature.
# Since the tree basically has the same information as the tab index you
# could consider to set DISABLE_INDEX to NO when enabling this option.
GENERATE_TREEVIEW = YES
# Use this tag to change the font size of Latex formulas included
# as images in the HTML documentation. The default is 10. Note that
# when you change the font size after a successful doxygen run you need
# to manually remove any form_*.png images from the HTML output directory
# to force them to be regenerated.
FORMULA_FONTSIZE = 12
#---------------------------------------------------------------------------
# configuration options related to the LaTeX output
#---------------------------------------------------------------------------
# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
# generate Latex output.
GENERATE_LATEX = NO
# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
# packages that should be included in the LaTeX output.
EXTRA_PACKAGES +=
#---------------------------------------------------------------------------
# Configuration options related to the preprocessor
#---------------------------------------------------------------------------
# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
# evaluate all C-preprocessor directives found in the sources and include
# files.
ENABLE_PREPROCESSING = YES
# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
# names in the source code. If set to NO (the default) only conditional
# compilation will be performed. Macro expansion can be done in a controlled
# way by setting EXPAND_ONLY_PREDEF to YES.
MACRO_EXPANSION = YES
# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
# then the macro expansion is limited to the macros specified with the
# PREDEFINED and EXPAND_AS_DEFINED tags.
EXPAND_ONLY_PREDEF = YES
# The PREDEFINED tag can be used to specify one or more macro names that
# are defined before the preprocessor is started (similar to the -D option of
# gcc). The argument of the tag is a list of macros of the form: name
# or name=definition (no spaces). If the definition and the = are
# omitted =1 is assumed. To prevent a macro definition from being
# undefined via #undef or recursively expanded use the := operator
# instead of the = operator.
PREDEFINED +=
# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
# this tag can be used to specify a list of macro names that should be expanded.
# The macro definition that is found in the sources will be used.
# Use the PREDEFINED tag if you want to use a different macro definition that
# overrules the definition found in the source code.
EXPAND_AS_DEFINED += DECLARE_SIGNAL_IN \
DECLARE_SIGNAL_INNNER \
DECLARE_SIGNAL_OUT
# The INCLUDE_PATH tag can be used to specify one or more directories that
# contain include files that are not input files but should be processed by
# the preprocessor.
INCLUDE_PATH = @PROJECT_SOURCE_DIR@/src
#---------------------------------------------------------------------------
# Configuration::additions related to external references
#---------------------------------------------------------------------------
# The TAGFILES option can be used to specify one or more tagfiles.
# Optionally an initial location of the external documentation
# can be added for each tagfile. The format of a tag file without
# this location is as follows:
#
# TAGFILES = file1 file2 ...
# Adding location for the tag files is done as follows:
#
# TAGFILES = file1=loc1 "file2 = loc2" ...
# where "loc1" and "loc2" can be relative or absolute paths or
# URLs. If a location is present for each tag, the installdox tool
# does not have to be run to correct the links.
# Note that each tag file must have a unique name
# (where the name does NOT include the path)
# If a tag file is not located in the directory in which doxygen
# is run, you must also specify the path to the tagfile here.
TAGFILES =
EXAMPLE_PATH = @PROJECT_SOURCE_DIR@/examples
# A dedicated BIB_PATH would be preferable
EXAMPLE_PATH += @PROJECT_SOURCE_DIR@/doc/bib
doc/Overview.md 0 → 100644
View file @ e217f893
# Overview {#index}
<!--
//
// Copyright (c) 2016, 2018 CNRS
// Author: Florent Lamiraux, Justin Carpentier, Guilhem Saurel
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
-->
\section OverviewIntro Introduction to sot-talos-balance
The library sot-talos-balance allows to execute your trajectory with the help of a stabilizer
You can find the full installation procedure <a href="md_doc_installation.html">in the installation page</a>
Quick instructions on how to run a test can be found <a href="md_doc_running.html">here</a>
doc/customdoxygen.css 0 → 100644
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/* Customizing Doxygen output */
/* Needed to allow line breaks in tables*/
.memberdecls {
table-layout: fixed;
width: 100%;
}
/* Needed to break long template names*/
.memTemplItemLeft {
white-space: normal !important;
word-wrap: break-word;
}
/* Needed to break long template names*/
.memItemLeft {
white-space: normal !important;
word-wrap: break-word;
}
doc/header.html 0 → 100644
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<!-- HTML header for doxygen 1.8.11-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen $doxygenversion"/>
<!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
<!--BEGIN !PROJECT_NAME--><title>$title</title><!--END !PROJECT_NAME-->
<link href="$relpath^tabs.css" rel="stylesheet" type="text/css"/>
<link href="$relpath^pinocchio.ico" rel="icon" type="image/x-icon">
<script type="text/javascript" src="$relpath^jquery.js"></script>
<script type="text/javascript" src="$relpath^dynsections.js"></script>
$treeview
$search
$mathjax
<link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
$extrastylesheet
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<!--BEGIN TITLEAREA-->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
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<td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo"/></td>
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doc/installation.md 0 → 100644
View file @ e217f893
# Installation
1. Clone the git repository:
```
git clone --recursive git@gepgitlab.laas.fr:loco-3d/sot-talos-balance.git
cd sot-talos-balance
```
2. If you need it, switch to the devel branch
```
git checkout devel
```
3. Create the build directory and move there
```
mkdir build
cd build
```
4. Run cmake
```
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/openrobots ..
```
5. Build the package
```
make -j4
```
6. Install the package
```
make install
```
doc/running.md 0 → 100644
View file @ e217f893
# Running a test
In the following, we quickly demonstrate how to run a test with sot-talos-balance.
## Start the simulation
First of all, you need to start the simulation.
To start Gazebo, load a scene and spawn Talos, the simplest way is to directly use the launch file provided by PAL, without een using sot-talos-balance
```
roslaunch talos_gazebo talos_gazebo.launch
```
Notice that this will spawn Talos at configuration zero. This is not always what you want.
The package sot-talos-balance offers different launch files to spawn it at different configurations.
Most commonly, you might want to spawn the robot in the half-sitting position
```
roslaunch sot_talos_balance talos_gazebo_half_sitting.launch
```
If you ever need a different configuration, all you have to do is taking talos_gazebo_half_sitting.launch, copying it with a different name and modifying it.
## Start the SoT in position mode
To start the SoT in simulation in position mode:
```
roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch
```
## Run the test
First of all, you need to go to the folder where your script is.
For instance, for running the standard tests of sot-talos-balance,
assuming you are in the root directory:
```
cd python/sot_talos_balance/test
```
Then, you can just run the chosen test. For instance:
```
python test_dcm_zmp_control.py
```
This will launch a test routine executing a sinusoid and raising the foot.
## Run the test with your own recorded movements
The test that needs to be run in order o execute your own prerecorded movement is
```
python test_dcm_zmp_control.py [testfolder]
```
where `[testfolder]` contains the following files:
```
CoM.dat
LeftFoot.dat
RightFoot.dat
WaistOrientation.dat
optionally, ZMP.dat (if not given, it is computed from the CoM)
```
where the CoM and the ZMP are in the following format:
```
[position3D velocity3D acceleration3D]
```
the feet are
```
[position6D velocity6D acceleration6D]
```
and the waist
```
[orientation3D angular_velocity3D angular_acceleration3D]
```
Pay attention that the lines of each file should *not* have trailing whitespace.
Actually, the velocity and acceleration information are only really needed for the CoM. For all other quantities, these values are not really employed, but they are needed due to how nd-trajectory-generator is implemented. You can set this quantities arbitrarily to zero.
If you are running a simulation, folder `[testfolder]` can be anyways in your computer.
If you are running an experiment on the robot, folder `[testfolder]` must be installed somewhere on the robot itself.
A quick-and-dirty way of installing new motions in the robot is putting them in sot-talos-balance.
In this case, you have to put it in
```
[sot-talos-balance-repo]/ros/sot_talos_balance/data
```
This way, when executing (see <a href="md_doc_installation.html">the installation page</a>)
```
make install
```
it will automatically be copied to
```
/opt/openrobots/share/sot_talos_balance/data
```
which will then be copied to the robot when you update sot-talos-balance on it.
If you which, you can access the motions in sot-talos-balance without specifying the full path, by doing
```
python test_dcm_zmp_control.py -0 [testfolder]
```
which will automatically look in
```
/opt/openrobots/share/sot_talos_balance/data/[testfolder]
```
## Interacting with the dynamic graph
If you want to dynamically interact with the graph
```
rosrun dynamic_graph_bridge run_command
```
## Other
More information on how to use the SoT and how to work on Talos can be found <a href="https://wiki.laas.fr/robots/Pyrene">in the robot wiki page</a> (you need LAAS permissions to access this).
doc/treeview.dox 0 → 100644
View file @ e217f893
//
// Copyright (c) 2016 CNRS
// Author: Florian Valenza
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
//
// This file strutures pages and modules into a convenient hierarchical structure.
//
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
//
// Pages/ tutorials organization
//
// \page md_doc_installation
// \page md_doc_running
}
}
}
include/sot/talos_balance/admittance-controller-end-effector.hh 0 → 100644
View file @ e217f893
/*
* Copyright 2019
*
* LAAS-CNRS
*
* Fanny Risbourg
* This file is part of sot-talos-balance.
* See license file.
*/
#ifndef __sot_talos_balance_admittance_controller_end_effector_H__
#define __sot_talos_balance_admittance_controller_end_effector_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined(WIN32)
#if defined(admittance_controller_end_effector_EXPORTS)
#define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT __declspec(dllexport)
#else
#define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT __declspec(dllimport)
#endif
#else
#define ADMITTANCECONTROLLERENDEFFECTOR_EXPORT
#endif
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include <pinocchio/fwd.hpp>
// include pinocchio first
#include <dynamic-graph/signal-helper.h>
#include <map>
#include <pinocchio/algorithm/center-of-mass.hpp>
#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/parsers/urdf.hpp>
#include <sot/core/robot-utils.hh>
#include "boost/assign.hpp"
#include "pinocchio/spatial/motion.hpp"
#include "pinocchio/spatial/se3.hpp"
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/**
* @brief Admittance controller for an upper body end-effector (right or left
* wrist)
*
* This entity computes a velocity reference for an end-effector based
* on the force error in the world frame :
* w_dq = integral(Kp(w_forceDes-w_force)) + Kd (w_dq)
*
*/
class ADMITTANCECONTROLLERENDEFFECTOR_EXPORT AdmittanceControllerEndEffector
: public ::dynamicgraph::Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */
AdmittanceControllerEndEffector(const std::string &name);
/* --- SIGNALS --- */
/// \brief Gain (6d) for the integration of the error on the force
DECLARE_SIGNAL_IN(Kp, dynamicgraph::Vector);
/// \brief Derivative gain (6d) for the error on the force
DECLARE_SIGNAL_IN(Kd, dynamicgraph::Vector);
/// \brief Value of the saturation to apply on the velocity output
DECLARE_SIGNAL_IN(dqSaturation, dynamicgraph::Vector);
/// \brief 6d force given by the sensor in its local frame
DECLARE_SIGNAL_IN(force, dynamicgraph::Vector);
/// \brief 6d desired force of the end-effector in the world frame
DECLARE_SIGNAL_IN(w_forceDes, dynamicgraph::Vector);
/// \brief Current joint configuration of the robot
DECLARE_SIGNAL_IN(q, dynamicgraph::Vector);
/// \brief 6d force given by the sensor in the world frame
DECLARE_SIGNAL_INNER(w_force, dynamicgraph::Vector);
/// \brief Internal intergration computed in the world frame
DECLARE_SIGNAL_INNER(w_dq, dynamicgraph::Vector);
/// \brief Velocity reference for the end-effector in the local frame
DECLARE_SIGNAL_OUT(dq, dynamicgraph::Vector);
/* --- COMMANDS --- */
/**
* @brief Initialize the entity
*
* @param[in] dt Time step of the control
* @param[in] sensorFrameName Name of the force sensor of the end-effector
* used in the pinocchio model
* @param[in] endeffectorName Name of the endEffectorJoint
*/
void init(const double &dt, const std::string &sensorFrameName,
const std::string &endeffectorName);
/**
* @brief Reset the velocity
*/
void resetDq();
/* --- ENTITY INHERITANCE --- */
virtual void display(std::ostream &os) const;
protected:
/// Dimension of the force signals and of the output
int m_n;
/// True if the entity has been successfully initialized
bool m_initSucceeded;
/// Internal state
dynamicgraph::Vector m_w_dq;
/// Time step of the control
double m_dt;
// Weight of the end-effector
double m_mass;
/// Robot Util instance to get the sensor frame
RobotUtilShrPtr m_robot_util;
/// Pinocchio robot model
pinocchio::Model m_model;
/// Pinocchio robot data
pinocchio::Data *m_data;
/// Id of the force sensor frame
pinocchio::FrameIndex m_sensorFrameId;
/// Id of the joint of the end-effector
pinocchio::JointIndex m_endEffectorId;
}; // class AdmittanceControllerEndEffector
} // namespace talos_balance
} // namespace sot
} // namespace dynamicgraph
#endif // #ifndef __sot_talos_balance_admittance_controller_end_effector_H__
include/sot/talos_balance/ankle-admittance-controller.hh 0 → 100644
View file @ e217f893
/*
* Copyright 2018, Gepetto team, LAAS-CNRS
*
* This file is part of sot-talos-balance.
* sot-talos-balance is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-talos-balance is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __sot_talos_balance_ankle_admittance_controller_H__
#define __sot_talos_balance_ankle_admittance_controller_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined(WIN32)
#if defined(ankle_admittance_controller_EXPORTS)
#define ANKLEADMITTANCECONTROLLER_EXPORT __declspec(dllexport)
#else
#define ANKLEADMITTANCECONTROLLER_EXPORT __declspec(dllimport)
#endif
#else
#define ANKLEADMITTANCECONTROLLER_EXPORT
#endif
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include <dynamic-graph/signal-helper.h>
#include <map>
#include "boost/assign.hpp"
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class ANKLEADMITTANCECONTROLLER_EXPORT AnkleAdmittanceController
: public ::dynamicgraph::Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */
AnkleAdmittanceController(const std::string& name);
void init();
/* --- SIGNALS --- */
DECLARE_SIGNAL_IN(gainsXY, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(wrench, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(pRef, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(dRP, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(vDes, dynamicgraph::Vector);
/* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */
virtual void display(std::ostream& os) const;
protected:
bool
m_initSucceeded; /// true if the entity has been successfully initialized
}; // class AnkleAdmittanceController
} // namespace talos_balance
} // namespace sot
} // namespace dynamicgraph
#endif // #ifndef __sot_talos_balance_ankle_admittance_controller_H__
include/sot/talos_balance/ankle-joint-selector.hh 0 → 100644
View file @ e217f893
/*
* Copyright 2018, Gepetto team, LAAS-CNRS
*
* This file is part of sot-talos-balance.
* sot-talos-balance is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-talos-balance is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __sot_talos_balance_ankle_joint_selector_H__
#define __sot_talos_balance_ankle_joint_selector_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined(WIN32)
#if defined(position_controller_EXPORTS)
#define ANKLE_JOINT_SELECTOR_EXPORT __declspec(dllexport)
#else
#define ANKLE_JOINT_SELECTOR_EXPORT __declspec(dllimport)
#endif
#else
#define ANKLE_JOINT_SELECTOR_EXPORT
#endif
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include <dynamic-graph/signal-helper.h>
#include <map>
#include <sot/core/flags.hh>
#include "boost/assign.hpp"
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class ANKLE_JOINT_SELECTOR_EXPORT AnkleJointSelector
: public ::dynamicgraph::Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */
AnkleJointSelector(const std::string& name);
void init(const int& n);
/* --- SIGNALS --- */
DECLARE_SIGNAL_IN(phase, int);
DECLARE_SIGNAL_IN(rightRollCoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(rightRollDecoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(rightPitchCoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(rightPitchDecoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(leftRollCoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(leftRollDecoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(leftPitchCoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(leftPitchDecoupled, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(selecLeft, Flags);
DECLARE_SIGNAL_OUT(selecRight, Flags);
DECLARE_SIGNAL_OUT(rightRoll, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(rightPitch, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(leftRoll, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(leftPitch, dynamicgraph::Vector);
/* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */
virtual void display(std::ostream& os) const;
protected:
Flags m_zeros;
Flags m_ones;
int m_n;
bool
m_initSucceeded; /// true if the entity has been successfully initialized
}; // class AnkleJointSelector
} // namespace talos_balance
} // namespace sot
} // namespace dynamicgraph
#endif // #ifndef __sot_talos_balance_ankle_joint_selector_H__
include/sot/talos_balance/base-estimator.hh deleted 100644 → 0
View file @ d23a79a1
/*
* Copyright 2017, Thomas Flayols, LAAS-CNRS
*
* This file is part of sot-torque-control.
* sot-torque-control is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-torque-control is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-torque-control. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __sot_torque_control_base_estimator_H__
#define __sot_torque_control_base_estimator_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined (WIN32)
# if defined (base_estimator_EXPORTS)
# define SOTBASEESTIMATOR_EXPORT __declspec(dllexport)
# else
# define SOTBASEESTIMATOR_EXPORT __declspec(dllimport)
# endif
#else
# define SOTBASEESTIMATOR_EXPORT
#endif
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include <sot/talos_balance/utils/signal-helper.hh>
#include <sot/talos_balance/utils/vector-conversions.hh>
#include <sot/talos_balance/utils/logger.hh>
#include <map>
#include "boost/assign.hpp"
//#include <boost/random/normal_distribution.hpp>
#include <boost/math/distributions/normal.hpp> // for normal_distribution
/* Pinocchio */
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/parsers/urdf.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
#include <sot/talos_balance/robot-utils.hh>
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/** Compute s12 as an intermediate transform between s1 and s2 SE3 transforms**/
void se3Interp(const se3::SE3 & s1, const se3::SE3 & s2, const double alpha, se3::SE3 & s12);
/** Convert from Roll, Pitch, Yaw to transformation Matrix. */
void rpyToMatrix(double r, double p, double y, Eigen::Matrix3d & R);
/** Convert from Roll, Pitch, Yaw to transformation Matrix. */
void rpyToMatrix(const Eigen::Vector3d & rpy, Eigen::Matrix3d & R);
/** Convert from Transformation Matrix to Roll, Pitch, Yaw */
void matrixToRpy(const Eigen::Matrix3d & M, Eigen::Vector3d & rpy);
/** Multiply to quaternions stored in (w,x,y,z) format */
void quanternionMult(const Eigen::Vector4d & q1, const Eigen::Vector4d & q2, Eigen::Vector4d & q12);
/** Rotate a point or a vector by a quaternion stored in (w,x,y,z) format */
void pointRotationByQuaternion(const Eigen::Vector3d & point,const Eigen::Vector4d & quat, Eigen::Vector3d & rotatedPoint);
/** Avoids singularity while taking the mean of euler angles**/
double eulerMean(double a1, double a2);
/** Avoids singularity while taking the mean of euler angles**/
double wEulerMean(double a1, double a2, double w1, double w2);
class SOTBASEESTIMATOR_EXPORT BaseEstimator
:public::dynamicgraph::Entity
{
typedef BaseEstimator EntityClassName;
typedef se3::SE3 SE3;
typedef Eigen::Vector2d Vector2;
typedef Eigen::Vector3d Vector3;
typedef Eigen::Vector4d Vector4;
typedef Eigen::Vector6d Vector6;
typedef Eigen::Vector7d Vector7;
typedef Eigen::Matrix3d Matrix3;
typedef boost::math::normal normal;
DYNAMIC_GRAPH_ENTITY_DECL();
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */
BaseEstimator( const std::string & name );
void init(const double & dt, const std::string& urdfFile);
void set_fz_stable_windows_size(const int & ws);
void set_alpha_w_filter(const double & a);
void set_alpha_DC_acc(const double & a);
void set_alpha_DC_vel(const double & a);
void reset_foot_positions();
void set_imu_weight(const double & w);
void set_zmp_std_dev_right_foot(const double & std_dev);
void set_zmp_std_dev_left_foot(const double & std_dev);
void set_normal_force_std_dev_right_foot(const double & std_dev);
void set_normal_force_std_dev_left_foot(const double & std_dev);
void set_stiffness_right_foot(const dynamicgraph::Vector & k);
void set_stiffness_left_foot(const dynamicgraph::Vector & k);
void set_right_foot_sizes(const dynamicgraph::Vector & s);
void set_left_foot_sizes(const dynamicgraph::Vector & s);
void set_zmp_margin_right_foot(const double & margin);
void set_zmp_margin_left_foot(const double & margin);
void set_normal_force_margin_right_foot(const double & margin);
void set_normal_force_margin_left_foot(const double & margin);
void reset_foot_positions_impl(const Vector6 & ftlf, const Vector6 & ftrf);
void compute_zmp(const Vector6 & w, Vector2 & zmp);
double compute_zmp_weight(const Vector2 & zmp, const Vector4 & foot_sizes,
double std_dev, double margin);
double compute_force_weight(double fz, double std_dev, double margin);
void kinematics_estimation(const Vector6 & ft, const Vector6 & K,
const SE3 & oMfs, const int foot_id,
SE3 & oMff, SE3& oMfa, SE3& fsMff);
/* --- SIGNALS --- */
DECLARE_SIGNAL_IN(joint_positions, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(joint_velocities, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(imu_quaternion, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(forceLLEG, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(forceRLEG, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(dforceLLEG, dynamicgraph::Vector); ///derivative of left force torque sensor
DECLARE_SIGNAL_IN(dforceRLEG, dynamicgraph::Vector); ///derivative of right force torque sensor
DECLARE_SIGNAL_IN(w_lf_in, double); /// weight of the estimation coming from the left foot
DECLARE_SIGNAL_IN(w_rf_in, double); /// weight of the estimation coming from the right foot
DECLARE_SIGNAL_IN(K_fb_feet_poses, double); /// feed back gain to correct feet position according to last base estimation and kinematic
DECLARE_SIGNAL_IN(lf_ref_xyzquat, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(rf_ref_xyzquat, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(accelerometer, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(gyroscope, dynamicgraph::Vector);
DECLARE_SIGNAL_INNER(kinematics_computations, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(q, dynamicgraph::Vector); /// n+6 robot configuration with base6d in RPY
DECLARE_SIGNAL_OUT(v, dynamicgraph::Vector); /// n+6 robot velocities
DECLARE_SIGNAL_OUT(v_kin, dynamicgraph::Vector); /// 6d robot velocities from kinematic only (encoders derivative)
DECLARE_SIGNAL_OUT(v_flex, dynamicgraph::Vector); /// 6d robot velocities from flexibility only (force sensor derivative)
DECLARE_SIGNAL_OUT(v_imu, dynamicgraph::Vector); /// 6d robot velocities form imu only (accelerometer integration + gyro)
DECLARE_SIGNAL_OUT(v_gyr, dynamicgraph::Vector); /// 6d robot velocities form gyroscope only (as if gyro measured the pure angular ankle velocities)
DECLARE_SIGNAL_OUT(lf_xyzquat, dynamicgraph::Vector); /// left foot pose
DECLARE_SIGNAL_OUT(rf_xyzquat, dynamicgraph::Vector); /// right foot pose
DECLARE_SIGNAL_OUT(a_ac, dynamicgraph::Vector); /// acceleration of the base in the world with DC component removed
DECLARE_SIGNAL_OUT(v_ac, dynamicgraph::Vector); /// velocity of the base in the world with DC component removed
DECLARE_SIGNAL_OUT(q_lf, dynamicgraph::Vector); /// n+6 robot configuration with base6d in RPY
DECLARE_SIGNAL_OUT(q_rf, dynamicgraph::Vector); /// n+6 robot configuration with base6d in RPY
DECLARE_SIGNAL_OUT(q_imu, dynamicgraph::Vector); /// n+6 robot configuration with base6d in RPY
DECLARE_SIGNAL_OUT(w_lf, double); /// weight of the estimation coming from the left foot
DECLARE_SIGNAL_OUT(w_rf, double); /// weight of the estimation coming from the right foot
DECLARE_SIGNAL_OUT(w_lf_filtered, double); /// filtered weight of the estimation coming from the left foot
DECLARE_SIGNAL_OUT(w_rf_filtered, double); /// filtered weight of the estimation coming from the right foot
/* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */
virtual void display( std::ostream& os ) const;
void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
{
getLogger().sendMsg("["+name+"] "+msg, t, file, line);
}
protected:
bool m_initSucceeded; /// true if the entity has been successfully initialized
bool m_reset_foot_pos; /// true after the command resetFootPositions is called
double m_dt; /// sampling time step
RobotUtil * m_robot_util;
bool m_left_foot_is_stable; /// True if left foot as been stable for the last 'm_fz_stable_windows_size' samples
bool m_right_foot_is_stable; /// True if right foot as been stable for the last 'm_fz_stable_windows_size' samples
int m_fz_stable_windows_size; /// size of the windows used to detect that feet did not leave the ground
int m_lf_fz_stable_cpt; ///counter for detecting for how long the feet has been stable
int m_rf_fz_stable_cpt; ///counter for detecting for how long the feet has been stable
/* Estimator parameters */
double m_w_imu; /// weight of IMU for sensor fusion
double m_zmp_std_dev_rf; /// standard deviation of ZMP measurement errors for right foot
double m_zmp_std_dev_lf; /// standard deviation of ZMP measurement errors for left foot
double m_fz_std_dev_rf; /// standard deviation of normal force measurement errors for right foot
double m_fz_std_dev_lf; /// standard deviation of normal force measurement errors for left foot
Vector4 m_left_foot_sizes; /// sizes of the left foot (pos x, neg x, pos y, neg y)
Vector4 m_right_foot_sizes; /// sizes of the left foot (pos x, neg x, pos y, neg y)
double m_zmp_margin_lf; /// margin used for computing zmp weight
double m_zmp_margin_rf; /// margin used for computing zmp weight
double m_fz_margin_lf; /// margin used for computing normal force weight
double m_fz_margin_rf; /// margin used for computing normal force weight
Vector6 m_K_rf; /// 6d stiffness of right foot spring
Vector6 m_K_lf; /// 6d stiffness of left foot spring
Eigen::VectorXd m_v_kin; /// 6d robot velocities from kinematic only (encoders derivative)
Eigen::VectorXd m_v_flex; /// 6d robot velocities from flexibility only (force sensor derivative)
Eigen::VectorXd m_v_imu; /// 6d robot velocities form imu only (accelerometer integration + gyro)
Eigen::VectorXd m_v_gyr; /// 6d robot velocities form gyroscope only (as if gyro measured the pure angular ankle velocities)
Vector3 m_v_ac; /// velocity of the base in the world with DC component removed
Vector3 m_a_ac; /// acceleration of the base in the world with DC component removed
double m_alpha_DC_acc; /// alpha parameter for DC blocker filter on acceleration data
double m_alpha_DC_vel; /// alpha parameter for DC blocker filter on velocity data
double m_alpha_w_filter; /// filter parameter to filter weights (1st order low pass filter)
double m_w_lf_filtered; /// filtered weight of the estimation coming from the left foot
double m_w_rf_filtered; /// filtered weight of the estimation coming from the right foot
se3::Model m_model; /// Pinocchio robot model
se3::Data *m_data; /// Pinocchio robot data
se3::SE3 m_chestMimu; /// chest to imu transformation
se3::SE3 m_oMff_lf; /// world-to-base transformation obtained through left foot
se3::SE3 m_oMff_rf; /// world-to-base transformation obtained through right foot
SE3 m_oMlfs; /// transformation from world to left foot sole
SE3 m_oMrfs; /// transformation from world to right foot sole
Vector7 m_oMlfs_xyzquat;
Vector7 m_oMrfs_xyzquat;
SE3 m_oMlfs_default_ref;/// Default reference for left foot pose to use if no ref is pluged
SE3 m_oMrfs_default_ref;/// Default reference for right foot pose to use if no ref is pluged
normal m_normal; /// Normal distribution
bool m_isFirstIterFlag; /// flag to detect first iteration and initialise velocity filters
SE3 m_sole_M_ftSens; /// foot sole to F/T sensor transformation
se3::FrameIndex m_right_foot_id;
se3::FrameIndex m_left_foot_id;
se3::FrameIndex m_IMU_body_id;
se3::FrameIndex m_IMU_frame_id;
Eigen::VectorXd m_q_pin; /// robot configuration according to pinocchio convention
Eigen::VectorXd m_q_sot; /// robot configuration according to SoT convention
Eigen::VectorXd m_v_pin; /// robot velocities according to pinocchio convention
Eigen::VectorXd m_v_sot; /// robot velocities according to SoT convention
Matrix3 m_oRchest; /// chest orientation in the world from angular fusion
Matrix3 m_oRff; /// base orientation in the world
/* Filter buffers*/
Vector3 m_last_vel;
Vector3 m_last_DCvel;
Vector3 m_last_DCacc;
}; // class BaseEstimator
} // namespace talos_balance
} // namespace sot
} // namespace dynamicgraph
#endif // #ifndef __sot_torque_control_free_flyer_locator_H__
include/sot/talos_balance/boolean-identity.hh 0 → 100644
View file @ e217f893
/*
* Copyright 2018, Gepetto team, LAAS-CNRS
*
* This file is part of sot-talos-balance.
* sot-talos-balance is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-talos-balance is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-talos-balance. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __sot_talos_balance_boolean_identity_H__
#define __sot_talos_balance_boolean_identity_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined(WIN32)
#if defined(position_controller_EXPORTS)
#define BOOLEAN_IDENTITY_EXPORT __declspec(dllexport)
#else
#define BOOLEAN_IDENTITY_EXPORT __declspec(dllimport)
#endif
#else
#define BOOLEAN_IDENTITY_EXPORT
#endif
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include <dynamic-graph/signal-helper.h>
#include <map>
#include "boost/assign.hpp"
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class BOOLEAN_IDENTITY_EXPORT BooleanIdentity : public ::dynamicgraph::Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */
BooleanIdentity(const std::string& name);
void init() {}
/* --- SIGNALS --- */
DECLARE_SIGNAL_IN(sin, bool);
DECLARE_SIGNAL_OUT(sout, bool);
/* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */
virtual void display(std::ostream& os) const;
}; // class BooleanIdentity
} // namespace talos_balance
} // namespace sot
} // namespace dynamicgraph
#endif // #ifndef __sot_talos_balance_boolean_identity_H__