Commit 62e0b21d authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Register signal one by one.

parent 78e955c5
......@@ -91,13 +91,21 @@ AngleEstimator( const std::string & name )
{
sotDEBUGIN(5);
signalRegistration( sensorWorldRotationSIN << sensorEmbeddedPositionSIN
<< contactWorldPositionSIN << contactEmbeddedPositionSIN
<< anglesSOUT << flexibilitySOUT
<< driftSOUT << sensorWorldRotationSOUT
<< waistWorldRotationSOUT
<< waistWorldPositionSOUT << waistWorldPoseRPYSOUT
<< jacobianSIN << qdotSIN << xff_dotSOUT << qdotSOUT );
signalRegistration(sensorWorldRotationSIN);
signalRegistration(sensorEmbeddedPositionSIN);
signalRegistration(contactWorldPositionSIN);
signalRegistration(contactEmbeddedPositionSIN);
signalRegistration(anglesSOUT);
signalRegistration(flexibilitySOUT);
signalRegistration(driftSOUT);
signalRegistration(sensorWorldRotationSOUT);
signalRegistration(waistWorldRotationSOUT);
signalRegistration(waistWorldPositionSOUT);
signalRegistration(waistWorldPoseRPYSOUT);
signalRegistration(jacobianSIN);
signalRegistration(qdotSIN);
signalRegistration(xff_dotSOUT);
signalRegistration(qdotSOUT);
/* Commands. */
{
......
......@@ -145,13 +145,25 @@ Dynamic( const std::string & name, bool build )
firstSINTERN.setDependencyType(TimeDependency<int>::BOOL_DEPENDENT);
//DEBUG: Why =0? should be function. firstSINTERN.setConstant(0);
signalRegistration( jointPositionSIN<<freeFlyerPositionSIN
<<jointVelocitySIN<<freeFlyerVelocitySIN
<<jointAccelerationSIN<<freeFlyerAccelerationSIN);
signalRegistration( zmpSOUT<<comSOUT<<JcomSOUT<<footHeightSOUT);
signalRegistration(upperJlSOUT<<lowerJlSOUT<<inertiaSOUT
<<inertiaRealSOUT << inertiaRotorSOUT << gearRatioSOUT );
signalRegistration( MomentaSOUT << AngularMomentumSOUT << dynamicDriftSOUT);
signalRegistration(jointPositionSIN);
signalRegistration(freeFlyerPositionSIN);
signalRegistration(jointVelocitySIN);
signalRegistration(freeFlyerVelocitySIN);
signalRegistration(jointAccelerationSIN);
signalRegistration(freeFlyerAccelerationSIN);
signalRegistration(zmpSOUT);
signalRegistration(comSOUT);
signalRegistration(JcomSOUT);
signalRegistration(footHeightSOUT);
signalRegistration(upperJlSOUT);
signalRegistration(lowerJlSOUT);
signalRegistration(inertiaSOUT);
signalRegistration(inertiaRealSOUT);
signalRegistration(inertiaRotorSOUT);
signalRegistration(gearRatioSOUT);
signalRegistration( MomentaSOUT);
signalRegistration(AngularMomentumSOUT);
signalRegistration(dynamicDriftSOUT);
//
// Commands
......
......@@ -99,18 +99,27 @@ ForceCompensationPlugin( const std::string & name )
{
sotDEBUGIN(5);
signalRegistration( torsorSIN<< worldRhandSIN
<< handRsensorSIN << translationSensorComSIN
<< gravitySIN << precompensationSIN << gainSensorSIN
<< deadZoneLimitSIN
<< transSensorJointSIN << inertiaJointSIN
<< velocitySIN << accelerationSIN
<< handXworldSOUT << handVsensorSOUT << torsorDeadZoneSIN
<< sensorXhandSOUT //<< inertiaSensorSOUT
<< momentumSOUT << momentumSIN
<< torsorCompensatedSOUT << torsorDeadZoneSOUT
<< calibrationTrigerSOUT );
signalRegistration(torsorSIN);
signalRegistration(worldRhandSIN);
signalRegistration(handRsensorSIN);
signalRegistration(translationSensorComSIN);
signalRegistration(gravitySIN);
signalRegistration(precompensationSIN);
signalRegistration(gainSensorSIN);
signalRegistration(deadZoneLimitSIN);
signalRegistration(transSensorJointSIN);
signalRegistration(inertiaJointSIN);
signalRegistration(velocitySIN );
signalRegistration(accelerationSIN);
signalRegistration(handXworldSOUT);
signalRegistration(handVsensorSOUT);
signalRegistration(torsorDeadZoneSIN);
signalRegistration(sensorXhandSOUT);
signalRegistration(momentumSOUT);
signalRegistration(momentumSIN);
signalRegistration(torsorCompensatedSOUT);
signalRegistration(torsorDeadZoneSOUT);
signalRegistration(calibrationTrigerSOUT);
torsorDeadZoneSIN.plug(&torsorCompensatedSOUT);
// By default, I choose: momentum is not compensated.
......
......@@ -52,10 +52,14 @@ IntegratorForce( const std::string & name )
{
sotDEBUGIN(5);
signalRegistration( forceSIN << massInverseSIN
<< frictionSIN << velocityPrecSIN
<< velocityDerivativeSOUT << velocitySOUT
<< massInverseSOUT << massSIN );
signalRegistration(forceSIN);
signalRegistration(massInverseSIN);
signalRegistration(frictionSIN);
signalRegistration(velocityPrecSIN);
signalRegistration(velocityDerivativeSOUT );
signalRegistration(velocitySOUT );
signalRegistration(massInverseSOUT );
signalRegistration(massSIN );
massInverseSIN.plug( &massInverseSOUT );
......
......@@ -46,8 +46,12 @@ MassApparent( const std::string & name )
{
sotDEBUGIN(5);
signalRegistration( jacobianSIN << inertiaInverseSIN << massInverseSOUT << massSOUT
<< inertiaSIN << inertiaInverseSOUT);
signalRegistration(jacobianSIN);
signalRegistration(inertiaInverseSIN);
signalRegistration(massInverseSOUT);
signalRegistration(massSOUT);
signalRegistration(inertiaSIN);
signalRegistration(inertiaInverseSOUT);
inertiaInverseSIN.plug( &inertiaInverseSOUT );
sotDEBUGOUT(5);
......
......@@ -41,8 +41,9 @@ WaistAttitudeFromSensor( const std::string & name )
{
sotDEBUGIN(5);
signalRegistration( attitudeSensorSIN<<positionSensorSIN
<<attitudeWaistSOUT );
signalRegistration(attitudeSensorSIN);
signalRegistration(positionSensorSIN);
signalRegistration(attitudeWaistSOUT);
sotDEBUGOUT(5);
}
......@@ -117,7 +118,8 @@ WaistPoseFromSensorAndContact( const std::string & name )
{
sotDEBUGIN(5);
signalRegistration( positionContactSIN<<positionWaistSOUT );
signalRegistration( positionContactSIN);
signalRegistration(positionWaistSOUT );
// Commands
std::string docstring;
......
......@@ -44,7 +44,10 @@ ZmprefFromCom( const std::string & name )
{
sotDEBUGIN(5);
signalRegistration(waistPositionSIN<<comPositionSIN<<dcomSIN<<zmprefSOUT );
signalRegistration(waistPositionSIN);
signalRegistration(comPositionSIN);
signalRegistration(dcomSIN);
signalRegistration(zmprefSOUT);
sotDEBUGOUT(5);
}
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment