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Commit 290b0d23 authored by Rohan Budhiraja's avatar Rohan Budhiraja
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[eigen] replace jrl-mal with eigen, unless needed by jrl-dynamics.

parent b143f397
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CMakeLists.txt
View file @ 290b0d23
......@@ -17,6 +17,7 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/lapack.cmake)
INCLUDE(cmake/cpack.cmake)
......@@ -39,12 +40,10 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
SETUP_PROJECT()
# Search for dependencies.
ADD_REQUIRED_DEPENDENCY("jrl-mal >= 1.9.0")
ADD_REQUIRED_DEPENDENCY("jrl-dynamics >= 1.19.0")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 2.5.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 2.5")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-tools")
# List plug-ins that will be compiled.
......@@ -73,6 +72,7 @@ PKG_CONFIG_APPEND_LIBS(${LIBRARY_NAME})
# Boost
SET(BOOST_COMPONENTS filesystem system)
SEARCH_FOR_BOOST()
SEARCH_FOR_EIGEN()
# Add subdirectories.
ADD_SUBDIRECTORY(include)
......
README.md
View file @ 290b0d23
......@@ -29,9 +29,8 @@ have to be available on your machine.
- Libraries:
- [jrl-dynamics][jrl-dynamics] (>= 1.16.1)
- [dynamic-graph][dynamic-graph] (>= 1.0.0)
- [sot-core][sot-core] (>= 1.0.0)
- [jrl-mal][jrl-mal] (>= 1.8.0)
- [dynamic-graph][dynamic-graph] (>= 3.0.0)
- [sot-core][sot-core] (>= 3.0.0)
- Closed source libraries:
- hrp2Dynamics (>= 1.3.0)
- hrp2-10-optimized (>= 1.3.0) [optional]
......@@ -43,5 +42,4 @@ have to be available on your machine.
[dynamic-graph]: http://github.com/stack-of-tasks/dynamic-graph
[jrl-dynamics]: http://github.com/jrl-umi3218/jrl-dynamics
[jrl-mal]: http://github.com/jrl-umi3218/jrl-mal
[sot-core]: http://github.com/stack-of-tasks/sot-core
debian/control
View file @ 290b0d23
......@@ -4,7 +4,6 @@ Maintainer: Thomas Moulard <thomas.moulard@gmail.com>
Build-Depends: debhelper (>= 7.0.50~), cmake (>= 2.6),
doxygen (>= 1.6.3),
pkg-config (>= 0.22),
libjrl-mal-dev (>= 1.9.0.99),
libjrl-dynamics-dev (>= 1.19.1),
libdynamic-graph-dev (>= 1.0.0.99),
libsot-core-dev (>= 1.0.0.99),
......
include/sot-dynamic/angle-estimator.h
View file @ 290b0d23
......@@ -39,16 +39,15 @@
/* --------------------------------------------------------------------- */
/* Matrix */
#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
#include <dynamic-graph/linear-algebra.h>
/* SOT */
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot/core/matrix-homogeneous.hh>
#include <sot/core/vector-roll-pitch-yaw.hh>
#include <sot/core/matrix-rotation.hh>
#include <sot/core/matrix-geometry.hh>
/* STD */
#include <string>
......@@ -79,21 +78,21 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator
dg::SignalPtr<MatrixHomogeneous,int> sensorEmbeddedPositionSIN; // waistRchest
dg::SignalPtr<MatrixHomogeneous,int> contactWorldPositionSIN; // estimate(worldRf)
dg::SignalPtr<MatrixHomogeneous,int> contactEmbeddedPositionSIN; // waistRleg
dg::SignalTimeDependent<ml::Vector,int> anglesSOUT; // [ flex1 flex2 yaw_drift ]
dg::SignalTimeDependent<dynamicgraph::Vector,int> anglesSOUT; // [ flex1 flex2 yaw_drift ]
dg::SignalTimeDependent<MatrixRotation,int> flexibilitySOUT; // footRleg
dg::SignalTimeDependent<MatrixRotation,int> driftSOUT; // Ryaw = worldRc est(wRc)^-1
dg::SignalTimeDependent<MatrixRotation,int> sensorWorldRotationSOUT; // worldRc
dg::SignalTimeDependent<MatrixRotation,int> waistWorldRotationSOUT; // worldRwaist
dg::SignalTimeDependent<MatrixHomogeneous,int> waistWorldPositionSOUT; // worldMwaist
dg::SignalTimeDependent<ml::Vector,int> waistWorldPoseRPYSOUT; // worldMwaist
dg::SignalTimeDependent<dynamicgraph::Vector,int> waistWorldPoseRPYSOUT; // worldMwaist
dg::SignalPtr<ml::Matrix,int> jacobianSIN;
dg::SignalPtr<ml::Vector,int> qdotSIN;
dg::SignalTimeDependent<ml::Vector,int> xff_dotSOUT;
dg::SignalTimeDependent<ml::Vector,int> qdotSOUT;
dg::SignalPtr<dynamicgraph::Matrix,int> jacobianSIN;
dg::SignalPtr<dynamicgraph::Vector,int> qdotSIN;
dg::SignalTimeDependent<dynamicgraph::Vector,int> xff_dotSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> qdotSOUT;
public: /* --- FUNCTIONS --- */
ml::Vector& computeAngles( ml::Vector& res,
dynamicgraph::Vector& computeAngles( dynamicgraph::Vector& res,
const int& time );
MatrixRotation& computeFlexibilityFromAngles( MatrixRotation& res,
const int& time );
......@@ -105,11 +104,11 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator
const int& time );
MatrixHomogeneous& computeWaistWorldPosition( MatrixHomogeneous& res,
const int& time );
ml::Vector& computeWaistWorldPoseRPY( ml::Vector& res,
dynamicgraph::Vector& computeWaistWorldPoseRPY( dynamicgraph::Vector& res,
const int& time );
ml::Vector& compute_xff_dotSOUT( ml::Vector& res,
dynamicgraph::Vector& compute_xff_dotSOUT( dynamicgraph::Vector& res,
const int& time );
ml::Vector& compute_qdotSOUT( ml::Vector& res,
dynamicgraph::Vector& compute_qdotSOUT( dynamicgraph::Vector& res,
const int& time );
public: /* --- PARAMS --- */
......
include/sot-dynamic/dynamic.h
View file @ 290b0d23
......@@ -30,9 +30,8 @@
#include <map>
/* Matrix */
#include <jrl/mal/boost.hh>
#include "jrl/mal/matrixabstractlayer.hh"
namespace ml = maal::boost;
#include <dynamic-graph/linear-algebra.h>
/* JRL dynamic */
#include <abstract-robot-dynamics/humanoid-dynamic-robot.hh>
......@@ -47,7 +46,7 @@ namespace djj = dynamicsJRLJapan;
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot/core/exception-dynamic.hh>
#include <sot/core/matrix-homogeneous.hh>
#include <sot/core/matrix-geometry.hh>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
......@@ -146,10 +145,10 @@ class SOTDYNAMIC_EXPORT Dynamic
void parseConfigFiles( void );
public: /* --- SIGNAL ACTIVATION --- */
dg::SignalTimeDependent< ml::Matrix,int > &
dg::SignalTimeDependent< dynamicgraph::Matrix,int > &
createEndeffJacobianSignal( const std::string& signame,
CjrlJoint* inJoint );
dg::SignalTimeDependent< ml::Matrix,int > &
dg::SignalTimeDependent< dynamicgraph::Matrix,int > &
createJacobianSignal( const std::string& signame,
CjrlJoint* inJoint );
void destroyJacobianSignal( const std::string& signame );
......@@ -157,11 +156,11 @@ class SOTDYNAMIC_EXPORT Dynamic
createPositionSignal( const std::string& signame,
CjrlJoint* inJoint );
void destroyPositionSignal( const std::string& signame );
dg::SignalTimeDependent< ml::Vector,int >&
dg::SignalTimeDependent< dynamicgraph::Vector,int >&
createVelocitySignal( const std::string& signame,
CjrlJoint* inJoint );
void destroyVelocitySignal( const std::string& signame );
dg::SignalTimeDependent< ml::Vector,int >&
dg::SignalTimeDependent< dynamicgraph::Vector,int >&
createAccelerationSignal( const std::string& signame,
CjrlJoint* inJoint );
void destroyAccelerationSignal( const std::string& signame );
......@@ -177,12 +176,12 @@ class SOTDYNAMIC_EXPORT Dynamic
public: /* --- SIGNAL --- */
dg::SignalPtr<ml::Vector,int> jointPositionSIN;
dg::SignalPtr<ml::Vector,int> freeFlyerPositionSIN;
dg::SignalPtr<ml::Vector,int> jointVelocitySIN;
dg::SignalPtr<ml::Vector,int> freeFlyerVelocitySIN;
dg::SignalPtr<ml::Vector,int> jointAccelerationSIN;
dg::SignalPtr<ml::Vector,int> freeFlyerAccelerationSIN;
dg::SignalPtr<dynamicgraph::Vector,int> jointPositionSIN;
dg::SignalPtr<dynamicgraph::Vector,int> freeFlyerPositionSIN;
dg::SignalPtr<dynamicgraph::Vector,int> jointVelocitySIN;
dg::SignalPtr<dynamicgraph::Vector,int> freeFlyerVelocitySIN;
dg::SignalPtr<dynamicgraph::Vector,int> jointAccelerationSIN;
dg::SignalPtr<dynamicgraph::Vector,int> freeFlyerAccelerationSIN;
// protected:
public:
......@@ -194,57 +193,57 @@ class SOTDYNAMIC_EXPORT Dynamic
int& initNewtonEuler( int& dummy,int time );
public:
dg::SignalTimeDependent<ml::Vector,int> zmpSOUT;
dg::SignalTimeDependent<ml::Matrix,int> JcomSOUT;
dg::SignalTimeDependent<ml::Vector,int> comSOUT;
dg::SignalTimeDependent<ml::Matrix,int> inertiaSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> zmpSOUT;
dg::SignalTimeDependent<dynamicgraph::Matrix,int> JcomSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> comSOUT;
dg::SignalTimeDependent<dynamicgraph::Matrix,int> inertiaSOUT;
dg::SignalTimeDependent<ml::Matrix,int>& jacobiansSOUT( const std::string& name );
dg::SignalTimeDependent<dynamicgraph::Matrix,int>& jacobiansSOUT( const std::string& name );
dg::SignalTimeDependent<MatrixHomogeneous,int>& positionsSOUT( const std::string& name );
dg::SignalTimeDependent<ml::Vector,int>& velocitiesSOUT( const std::string& name );
dg::SignalTimeDependent<ml::Vector,int>& accelerationsSOUT( const std::string& name );
dg::SignalTimeDependent<dynamicgraph::Vector,int>& velocitiesSOUT( const std::string& name );
dg::SignalTimeDependent<dynamicgraph::Vector,int>& accelerationsSOUT( const std::string& name );
dg::SignalTimeDependent<double,int> footHeightSOUT;
dg::SignalTimeDependent<ml::Vector,int> upperJlSOUT;
dg::SignalTimeDependent<ml::Vector,int> lowerJlSOUT;
dg::SignalTimeDependent<ml::Vector,int> upperVlSOUT;
dg::SignalTimeDependent<ml::Vector,int> lowerVlSOUT;
dg::SignalTimeDependent<ml::Vector,int> upperTlSOUT;
dg::SignalTimeDependent<ml::Vector,int> lowerTlSOUT;
dg::Signal<ml::Vector,int> inertiaRotorSOUT;
dg::Signal<ml::Vector,int> gearRatioSOUT;
dg::SignalTimeDependent<ml::Matrix,int> inertiaRealSOUT;
dg::SignalTimeDependent<ml::Vector,int> MomentaSOUT;
dg::SignalTimeDependent<ml::Vector,int> AngularMomentumSOUT;
dg::SignalTimeDependent<ml::Vector,int> dynamicDriftSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> upperJlSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> lowerJlSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> upperVlSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> lowerVlSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> upperTlSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> lowerTlSOUT;
dg::Signal<dynamicgraph::Vector,int> inertiaRotorSOUT;
dg::Signal<dynamicgraph::Vector,int> gearRatioSOUT;
dg::SignalTimeDependent<dynamicgraph::Matrix,int> inertiaRealSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> MomentaSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> AngularMomentumSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> dynamicDriftSOUT;
protected:
ml::Vector& computeZmp( ml::Vector& res,int time );
ml::Vector& computeMomenta( ml::Vector &res, int time);
ml::Vector& computeAngularMomentum( ml::Vector &res, int time);
ml::Matrix& computeJcom( ml::Matrix& res,int time );
ml::Vector& computeCom( ml::Vector& res,int time );
ml::Matrix& computeInertia( ml::Matrix& res,int time );
ml::Matrix& computeInertiaReal( ml::Matrix& res,int time );
dynamicgraph::Vector& computeZmp( dynamicgraph::Vector& res,int time );
dynamicgraph::Vector& computeMomenta( dynamicgraph::Vector &res, int time);
dynamicgraph::Vector& computeAngularMomentum( dynamicgraph::Vector &res, int time);
dynamicgraph::Matrix& computeJcom( dynamicgraph::Matrix& res,int time );
dynamicgraph::Vector& computeCom( dynamicgraph::Vector& res,int time );
dynamicgraph::Matrix& computeInertia( dynamicgraph::Matrix& res,int time );
dynamicgraph::Matrix& computeInertiaReal( dynamicgraph::Matrix& res,int time );
double& computeFootHeight( double& res,int time );
ml::Matrix& computeGenericJacobian( CjrlJoint* j,ml::Matrix& res,int time );
ml::Matrix& computeGenericEndeffJacobian( CjrlJoint* j,ml::Matrix& res,int time );
dynamicgraph::Matrix& computeGenericJacobian( CjrlJoint* j,dynamicgraph::Matrix& res,int time );
dynamicgraph::Matrix& computeGenericEndeffJacobian( CjrlJoint* j,dynamicgraph::Matrix& res,int time );
MatrixHomogeneous& computeGenericPosition( CjrlJoint* j,MatrixHomogeneous& res,int time );
ml::Vector& computeGenericVelocity( CjrlJoint* j,ml::Vector& res,int time );
ml::Vector& computeGenericAcceleration( CjrlJoint* j,ml::Vector& res,int time );
dynamicgraph::Vector& computeGenericVelocity( CjrlJoint* j,dynamicgraph::Vector& res,int time );
dynamicgraph::Vector& computeGenericAcceleration( CjrlJoint* j,dynamicgraph::Vector& res,int time );
ml::Vector& getUpperJointLimits( ml::Vector& res,const int& time );
ml::Vector& getLowerJointLimits( ml::Vector& res,const int& time );
dynamicgraph::Vector& getUpperJointLimits( dynamicgraph::Vector& res,const int& time );
dynamicgraph::Vector& getLowerJointLimits( dynamicgraph::Vector& res,const int& time );
ml::Vector& getUpperVelocityLimits( ml::Vector& res,const int& time );
ml::Vector& getLowerVelocityLimits( ml::Vector& res,const int& time );
dynamicgraph::Vector& getUpperVelocityLimits( dynamicgraph::Vector& res,const int& time );
dynamicgraph::Vector& getLowerVelocityLimits( dynamicgraph::Vector& res,const int& time );
ml::Vector& getUpperTorqueLimits( ml::Vector& res,const int& time );
ml::Vector& getLowerTorqueLimits( ml::Vector& res,const int& time );
dynamicgraph::Vector& getUpperTorqueLimits( dynamicgraph::Vector& res,const int& time );
dynamicgraph::Vector& getLowerTorqueLimits( dynamicgraph::Vector& res,const int& time );
ml::Vector& computeTorqueDrift( ml::Vector& res,const int& time );
dynamicgraph::Vector& computeTorqueDrift( dynamicgraph::Vector& res,const int& time );
public: /* --- PARAMS --- */
virtual void commandLine( const std::string& cmdLine,
......@@ -272,7 +271,7 @@ class SOTDYNAMIC_EXPORT Dynamic
/// commands. An empty CjrlBody is also created and attached to the joint.
void createJoint(const std::string& inJointName,
const std::string& inJointType,
const ml::Matrix& inPosition);
const dynamicgraph::Matrix& inPosition);
/// \brief Set a joint as root joint of the robot.
void setRootJoint(const std::string& inJointName);
......@@ -302,14 +301,14 @@ class SOTDYNAMIC_EXPORT Dynamic
///
/// \param inJointName name of the joint to which the body is attached,
/// \param inCom local center of mass.
void setLocalCenterOfMass(const std::string& inJointName, ml::Vector inCom);
void setLocalCenterOfMass(const std::string& inJointName, dynamicgraph::Vector inCom);
/// \brief Set inertia matrix of a body
///
/// \param inJointName name of the joint to which the body is attached,
/// \param inMatrix inertia matrix.
void setInertiaMatrix(const std::string& inJointName,
ml::Matrix inMatrix);
dynamicgraph::Matrix inMatrix);
/// \brief Set specific joints
///
......@@ -325,10 +324,10 @@ class SOTDYNAMIC_EXPORT Dynamic
/// \param inThumbAxis thumb axis in wrist local frame,
/// \param inForefingerAxis forefinger axis in wrist local frame,
/// \param inPalmNormalAxis palm normal in wrist local frame,
void setHandParameters(bool inRight, const ml::Vector& inCenter,
const ml::Vector& inThumbAxis,
const ml::Vector& inForefingerAxis,
const ml::Vector& inPalmNormal);
void setHandParameters(bool inRight, const dynamicgraph::Vector& inCenter,
const dynamicgraph::Vector& inThumbAxis,
const dynamicgraph::Vector& inForefingerAxis,
const dynamicgraph::Vector& inPalmNormal);
/// \brief Set foot parameters
///
......@@ -338,14 +337,14 @@ class SOTDYNAMIC_EXPORT Dynamic
/// \param inAnklePosition ankle position in foot local frame,
void setFootParameters(bool inRight, const double& inSoleLength,
const double& inSoleWidth,
const ml::Vector& inAnklePosition);
const dynamicgraph::Vector& inAnklePosition);
/// \brief Set gaze parameters
///
/// \param inGazeOrigin origin of the gaze in gaze joint local frame,
/// \param inGazeDirection direction of the gase in gaze joint local frame.
void setGazeParameters(const ml::Vector& inGazeOrigin,
const ml::Vector& inGazeDirection);
void setGazeParameters(const dynamicgraph::Vector& inGazeOrigin,
const dynamicgraph::Vector& inGazeDirection);
/// \brief Get length of left foot sole.
///
......@@ -360,7 +359,7 @@ class SOTDYNAMIC_EXPORT Dynamic
/// \brief Get left ankle position in foot frame
///
/// The robot is assumed to be symmetric.
ml::Vector getAnklePositionInFootFrame() const;
dynamicgraph::Vector getAnklePositionInFootFrame() const;
/// @}
///
......
include/sot-dynamic/force-compensation.h
View file @ 290b0d23
......@@ -26,16 +26,15 @@
/* --------------------------------------------------------------------- */
/* Matrix */
#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
#include <dynamic-graph/linear-algebra.h>
/* SOT */
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot/core/matrix-rotation.hh>
#include <sot/core/matrix-force.hh>
#include <sot/core/matrix-homogeneous.hh>
#include <sot/core/matrix-geometry.hh>
/* STD */
#include <string>
......@@ -73,53 +72,53 @@ namespace dynamicgraph { namespace sot {
ForceCompensation( void );
static MatrixForce& computeHandXworld(
const MatrixRotation & worldRhand,
const ml::Vector & transSensorCom,
const dynamicgraph::Vector & transSensorCom,
MatrixForce& res );
static MatrixForce& computeHandVsensor( const MatrixRotation & sensorRhand,
MatrixForce& res );
static MatrixForce& computeSensorXhand( const MatrixRotation & sensorRhand,
const ml::Vector & transSensorCom,
const dynamicgraph::Vector & transSensorCom,
MatrixForce& res );
/* static ml::Matrix& computeInertiaSensor( const ml::Matrix& inertiaJoint, */
/* static dynamicgraph::Matrix& computeInertiaSensor( const dynamicgraph::Matrix& inertiaJoint, */
/* const MatrixForce& sensorXhand, */
/* ml::Matrix& res ); */
/* dynamicgraph::Matrix& res ); */
static ml::Vector& computeTorsorCompensated( const ml::Vector& torqueInput,
const ml::Vector& torquePrecompensation,
const ml::Vector& gravity,
static dynamicgraph::Vector& computeTorsorCompensated( const dynamicgraph::Vector& torqueInput,
const dynamicgraph::Vector& torquePrecompensation,
const dynamicgraph::Vector& gravity,
const MatrixForce& handXworld,
const MatrixForce& handVsensor,
const ml::Matrix& gainSensor,
const ml::Vector& momentum,
ml::Vector& res );
static ml::Vector& crossProduct_V_F( const ml::Vector& velocity,
const ml::Vector& force,
ml::Vector& res );
static ml::Vector& computeMomentum( const ml::Vector& velocity,
const ml::Vector& acceleration,
const dynamicgraph::Matrix& gainSensor,
const dynamicgraph::Vector& momentum,
dynamicgraph::Vector& res );
static dynamicgraph::Vector& crossProduct_V_F( const dynamicgraph::Vector& velocity,
const dynamicgraph::Vector& force,
dynamicgraph::Vector& res );
static dynamicgraph::Vector& computeMomentum( const dynamicgraph::Vector& velocity,
const dynamicgraph::Vector& acceleration,
const MatrixForce& sensorXhand,
const ml::Matrix& inertiaJoint,
ml::Vector& res );
const dynamicgraph::Matrix& inertiaJoint,
dynamicgraph::Vector& res );
static ml::Vector& computeDeadZone( const ml::Vector& torqueInput,
const ml::Vector& deadZoneLimit,
ml::Vector& res );
static dynamicgraph::Vector& computeDeadZone( const dynamicgraph::Vector& torqueInput,
const dynamicgraph::Vector& deadZoneLimit,
dynamicgraph::Vector& res );
public: // CALIBRATION
std::list<ml::Vector> torsorList;
std::list<dynamicgraph::Vector> torsorList;
std::list<MatrixRotation> rotationList;
void clearCalibration( void );
void addCalibrationValue( const ml::Vector& torsor,
void addCalibrationValue( const dynamicgraph::Vector& torsor,
const MatrixRotation & worldRhand );
ml::Vector calibrateTransSensorCom( const ml::Vector& gravity,
dynamicgraph::Vector calibrateTransSensorCom( const dynamicgraph::Vector& gravity,
const MatrixRotation& handRsensor );
ml::Vector calibrateGravity( const MatrixRotation& handRsensor,
dynamicgraph::Vector calibrateGravity( const MatrixRotation& handRsensor,
bool precompensationCalibration = false,
const MatrixRotation& hand0Rsensor = I3 );
......@@ -148,35 +147,35 @@ namespace dynamicgraph { namespace sot {
public: /* --- SIGNAL --- */
/* --- INPUTS --- */
dg::SignalPtr<ml::Vector,int> torsorSIN;
dg::SignalPtr<dynamicgraph::Vector,int> torsorSIN;
dg::SignalPtr<MatrixRotation,int> worldRhandSIN;
/* --- CONSTANTS --- */
dg::SignalPtr<MatrixRotation,int> handRsensorSIN;
dg::SignalPtr<ml::Vector,int> translationSensorComSIN;
dg::SignalPtr<ml::Vector,int> gravitySIN;
dg::SignalPtr<ml::Vector,int> precompensationSIN;
dg::SignalPtr<ml::Matrix,int> gainSensorSIN;
dg::SignalPtr<ml::Vector,int> deadZoneLimitSIN;
dg::SignalPtr<ml::Vector,int> transSensorJointSIN;
dg::SignalPtr<ml::Matrix,int> inertiaJointSIN;
dg::SignalPtr<dynamicgraph::Vector,int> translationSensorComSIN;
dg::SignalPtr<dynamicgraph::Vector,int> gravitySIN;
dg::SignalPtr<dynamicgraph::Vector,int> precompensationSIN;
dg::SignalPtr<dynamicgraph::Matrix,int> gainSensorSIN;
dg::SignalPtr<dynamicgraph::Vector,int> deadZoneLimitSIN;
dg::SignalPtr<dynamicgraph::Vector,int> transSensorJointSIN;
dg::SignalPtr<dynamicgraph::Matrix,int> inertiaJointSIN;
dg::SignalPtr<ml::Vector,int> velocitySIN;
dg::SignalPtr<ml::Vector,int> accelerationSIN;
dg::SignalPtr<dynamicgraph::Vector,int> velocitySIN;
dg::SignalPtr<dynamicgraph::Vector,int> accelerationSIN;
/* --- INTERMEDIATE OUTPUTS --- */
dg::SignalTimeDependent<MatrixForce,int> handXworldSOUT;
dg::SignalTimeDependent<MatrixForce,int> handVsensorSOUT;
dg::SignalPtr<ml::Vector,int> torsorDeadZoneSIN;
dg::SignalPtr<dynamicgraph::Vector,int> torsorDeadZoneSIN;
dg::SignalTimeDependent<MatrixForce,int> sensorXhandSOUT;
//dg::SignalTimeDependent<ml::Matrix,int> inertiaSensorSOUT;
dg::SignalTimeDependent<ml::Vector,int> momentumSOUT;
dg::SignalPtr<ml::Vector,int> momentumSIN;
//dg::SignalTimeDependent<dynamicgraph::Matrix,int> inertiaSensorSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> momentumSOUT;
dg::SignalPtr<dynamicgraph::Vector,int> momentumSIN;
/* --- OUTPUTS --- */
dg::SignalTimeDependent<ml::Vector,int> torsorCompensatedSOUT;
dg::SignalTimeDependent<ml::Vector,int> torsorDeadZoneSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> torsorCompensatedSOUT;
dg::SignalTimeDependent<dynamicgraph::Vector,int> torsorDeadZoneSOUT;
typedef int sotDummyType;
dg::SignalTimeDependent<sotDummyType,int> calibrationTrigerSOUT;
......
include/sot-dynamic/integrator-force-exact.h
View file @ 290b0d23
......@@ -26,16 +26,15 @@
/* --------------------------------------------------------------------- */
/* Matrix */
#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
#include <dynamic-graph/linear-algebra.h>
/* SOT */
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot/core/matrix-homogeneous.hh>
#include <sot/core/vector-roll-pitch-yaw.hh>
#include <sot/core/matrix-rotation.hh>
#include <sot/core/matrix-geometry.hh>
#include <sot-dynamic/integrator-force.h>
/* STD */
......@@ -80,7 +79,7 @@ class SOTINTEGRATORFORCEEXACT_EXPORT IntegratorForceExact
public: /* --- FUNCTIONS --- */
ml::Vector& computeVelocityExact( ml::Vector& res,
dynamicgraph::Vector& computeVelocityExact( dynamicgraph::Vector& res,
const int& time );
/* public: /\* --- PARAMS --- *\/ */
......
include/sot-dynamic/integrator-force-rk4.h
View file @ 290b0d23
......@@ -26,16 +26,15 @@
/* --------------------------------------------------------------------- */
/* Matrix */
#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
#include <dynamic-graph/linear-algebra.h>
/* SOT */
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot/core/matrix-homogeneous.hh>
#include <sot/core/vector-roll-pitch-yaw.hh>
#include <sot/core/matrix-rotation.hh>
#include <sot/core/matrix-geometry.hh>
#include <sot-dynamic/integrator-force.h>
/* STD */
......@@ -80,7 +79,7 @@ class SOTINTEGRATORFORCERK4_EXPORT IntegratorForceRK4
public: /* --- FUNCTIONS --- */
ml::Vector& computeDerivativeRK4( ml::Vector& res,
dynamicgraph::Vector& computeDerivativeRK4( dynamicgraph::Vector& res,
const int& time );
/* public: /\* --- PARAMS --- *\/ */
......
include/sot-dynamic/integrator-force.h
View file @ 290b0d23
......@@ -26,16 +26,15 @@
/* --------------------------------------------------------------------- */
/* Matrix */
#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
#include <dynamic-graph/linear-algebra.h>
/* SOT */
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot/core/matrix-homogeneous.hh>
#include <sot/core/vector-roll-pitch-yaw.hh>
#include <sot/core/matrix-rotation.hh>
#include <sot/core/matrix-geometry.hh>
/* STD */
#include <string>
......@@ -81,26 +80,26 @@ class SOTINTEGRATORFORCE_EXPORT IntegratorForce
public: /* --- SIGNAL --- */