Commit db6d2296 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Move classes into dynamicgraph::sot namespace.

parent 4cc15fa0
......@@ -46,15 +46,15 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot-core/matrix-homogeneous.h>
#include <sot/core/matrix-homogeneous.hh>
#include <sot-core/vector-roll-pitch-yaw.h>
#include <sot-core/matrix-rotation.h>
#include <sot/core/matrix-rotation.hh>
/* STD */
#include <string>
namespace sot {
namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
......@@ -123,7 +123,7 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator
};
} // namespace sot
} /* namespace sot */} /* namespace dynamicgraph */
......
......@@ -48,7 +48,7 @@
namespace sot {
namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
......@@ -80,7 +80,7 @@ class SOTDYNAMICHRP2_EXPORT DynamicHrp2
};
} // namespace sot
} /* namespace sot */} /* namespace dynamicgraph */
......
......@@ -46,7 +46,7 @@
# define DYNAMICHRP2_10_EXPORT
#endif
namespace sot {
namespace dynamicgraph { namespace sot {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
......@@ -75,7 +75,7 @@ class DYNAMICHRP2_10_EXPORT DynamicHrp2_10
};
} // namespace sot
} /* namespace sot */} /* namespace dynamicgraph */
#endif // #ifndef __SOT_DYNAMIC_HRP2_H__
......
......@@ -46,7 +46,7 @@
# define DynamicHrp2_10_old_EXPORT
#endif
namespace sot {
namespace dynamicgraph { namespace sot {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
......@@ -77,7 +77,7 @@ class DynamicHrp2_10_old_EXPORT DynamicHrp2_10_old
};
} // namespace sot
} /* namespace sot */} /* namespace dynamicgraph */
#endif // #ifndef __SOT_DYNAMIC_HRP2_H__
......
......@@ -47,7 +47,7 @@ namespace djj = dynamicsJRLJapan;
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot-core/exception-dynamic.h>
#include <sot-core/matrix-homogeneous.h>
#include <sot/core/matrix-homogeneous.hh>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
......@@ -64,7 +64,7 @@ namespace djj = dynamicsJRLJapan;
#endif
namespace sot {
namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
namespace command {
......@@ -365,7 +365,7 @@ class SOTDYNAMIC_EXPORT Dynamic
std::ostream& operator<<(std::ostream& os, const CjrlHumanoidDynamicRobot& r);
std::ostream& operator<<(std::ostream& os, const CjrlJoint& r);
} // namespace sot
} /* namespace sot */} /* namespace dynamicgraph */
......
......@@ -33,9 +33,9 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot-core/matrix-rotation.h>
#include <sot/core/matrix-rotation.hh>
#include <sot-core/matrix-force.h>
#include <sot-core/matrix-homogeneous.h>
#include <sot/core/matrix-homogeneous.hh>
/* STD */
#include <string>
......@@ -55,148 +55,146 @@ namespace ml = maal::boost;
#endif
namespace sot {
namespace dg = dynamicgraph;
namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class SOTFORCECOMPENSATION_EXPORT ForceCompensation
{
private:
static MatrixRotation I3;
protected:
bool usingPrecompensation;
class SOTFORCECOMPENSATION_EXPORT ForceCompensation
{
private:
static MatrixRotation I3;
protected:
bool usingPrecompensation;
public:
ForceCompensation( void );
static MatrixForce& computeHandXworld(
const MatrixRotation & worldRhand,
const ml::Vector & transSensorCom,
MatrixForce& res );
public:
ForceCompensation( void );
static MatrixForce& computeHandXworld(
const MatrixRotation & worldRhand,
const ml::Vector & transSensorCom,
MatrixForce& res );
static MatrixForce& computeHandVsensor( const MatrixRotation & sensorRhand,
MatrixForce& res );
static MatrixForce& computeSensorXhand( const MatrixRotation & sensorRhand,
const ml::Vector & transSensorCom,
MatrixForce& res );
/* static ml::Matrix& computeInertiaSensor( const ml::Matrix& inertiaJoint, */
/* const MatrixForce& sensorXhand, */
/* ml::Matrix& res ); */
static ml::Vector& computeTorsorCompensated( const ml::Vector& torqueInput,
const ml::Vector& torquePrecompensation,
const ml::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 MatrixForce& sensorXhand,
const ml::Matrix& inertiaJoint,
ml::Vector& res );
static ml::Vector& computeDeadZone( const ml::Vector& torqueInput,
const ml::Vector& deadZoneLimit,
ml::Vector& res );
static MatrixForce& computeHandVsensor( const MatrixRotation & sensorRhand,
MatrixForce& res );
static MatrixForce& computeSensorXhand( const MatrixRotation & sensorRhand,
const ml::Vector & transSensorCom,
MatrixForce& res );
/* static ml::Matrix& computeInertiaSensor( const ml::Matrix& inertiaJoint, */
/* const MatrixForce& sensorXhand, */
/* ml::Matrix& res ); */
static ml::Vector& computeTorsorCompensated( const ml::Vector& torqueInput,
const ml::Vector& torquePrecompensation,
const ml::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 MatrixForce& sensorXhand,
const ml::Matrix& inertiaJoint,
ml::Vector& res );
static ml::Vector& computeDeadZone( const ml::Vector& torqueInput,
const ml::Vector& deadZoneLimit,
ml::Vector& res );
public: // CALIBRATION
public: // CALIBRATION
std::list<ml::Vector> torsorList;
std::list<MatrixRotation> rotationList;
std::list<ml::Vector> torsorList;
std::list<MatrixRotation> rotationList;
void clearCalibration( void );
void addCalibrationValue( const ml::Vector& torsor,
const MatrixRotation & worldRhand );
void clearCalibration( void );
void addCalibrationValue( const ml::Vector& torsor,
const MatrixRotation & worldRhand );
ml::Vector calibrateTransSensorCom( const ml::Vector& gravity,
const MatrixRotation& handRsensor );
ml::Vector calibrateGravity( const MatrixRotation& handRsensor,
bool precompensationCalibration = false,
const MatrixRotation& hand0Rsensor = I3 );
ml::Vector calibrateTransSensorCom( const ml::Vector& gravity,
const MatrixRotation& handRsensor );
ml::Vector calibrateGravity( const MatrixRotation& handRsensor,
bool precompensationCalibration = false,
const MatrixRotation& hand0Rsensor = I3 );
};
};
/* --------------------------------------------------------------------- */
/* --- PLUGIN ---------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* --- PLUGIN ---------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class SOTFORCECOMPENSATION_EXPORT ForceCompensationPlugin
:public dg::Entity, public ForceCompensation
{
public:
static const std::string CLASS_NAME;
bool calibrationStarted;
class SOTFORCECOMPENSATION_EXPORT ForceCompensationPlugin
:public dg::Entity, public ForceCompensation
{
public:
static const std::string CLASS_NAME;
bool calibrationStarted;
public: /* --- CONSTRUCTION --- */
public: /* --- CONSTRUCTION --- */
ForceCompensationPlugin( const std::string& name );
virtual ~ForceCompensationPlugin( void );
ForceCompensationPlugin( const std::string& name );
virtual ~ForceCompensationPlugin( void );
public: /* --- SIGNAL --- */
public: /* --- SIGNAL --- */
/* --- INPUTS --- */
dg::SignalPtr<ml::Vector,int> torsorSIN;
dg::SignalPtr<MatrixRotation,int> worldRhandSIN;
/* --- INPUTS --- */
dg::SignalPtr<ml::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;
/* --- 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<ml::Vector,int> velocitySIN;
dg::SignalPtr<ml::Vector,int> accelerationSIN;
dg::SignalPtr<ml::Vector,int> velocitySIN;
dg::SignalPtr<ml::Vector,int> accelerationSIN;
/* --- INTERMEDIATE OUTPUTS --- */
dg::SignalTimeDependent<MatrixForce,int> handXworldSOUT;
dg::SignalTimeDependent<MatrixForce,int> handVsensorSOUT;
dg::SignalPtr<ml::Vector,int> torsorDeadZoneSIN;
/* --- INTERMEDIATE OUTPUTS --- */
dg::SignalTimeDependent<MatrixForce,int> handXworldSOUT;
dg::SignalTimeDependent<MatrixForce,int> handVsensorSOUT;
dg::SignalPtr<ml::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<MatrixForce,int> sensorXhandSOUT;
//dg::SignalTimeDependent<ml::Matrix,int> inertiaSensorSOUT;
dg::SignalTimeDependent<ml::Vector,int> momentumSOUT;
dg::SignalPtr<ml::Vector,int> momentumSIN;
/* --- OUTPUTS --- */
dg::SignalTimeDependent<ml::Vector,int> torsorCompensatedSOUT;
dg::SignalTimeDependent<ml::Vector,int> torsorDeadZoneSOUT;
/* --- OUTPUTS --- */
dg::SignalTimeDependent<ml::Vector,int> torsorCompensatedSOUT;
dg::SignalTimeDependent<ml::Vector,int> torsorDeadZoneSOUT;
typedef int sotDummyType;
dg::SignalTimeDependent<sotDummyType,int> calibrationTrigerSOUT;
typedef int sotDummyType;
dg::SignalTimeDependent<sotDummyType,int> calibrationTrigerSOUT;
public: /* --- COMMANDLINE --- */
public: /* --- COMMANDLINE --- */
sotDummyType& calibrationTriger( sotDummyType& dummy,int time );
sotDummyType& calibrationTriger( sotDummyType& dummy,int time );
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os );
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os );
};
} // namaspace sot
};
} // namaspace sot
} // namespace dynamicgraph
#endif // #ifndef __SOT_SOTFORCECOMPENSATION_H__
......@@ -33,9 +33,9 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot-core/matrix-homogeneous.h>
#include <sot/core/matrix-homogeneous.hh>
#include <sot-core/vector-roll-pitch-yaw.h>
#include <sot-core/matrix-rotation.h>
#include <sot/core/matrix-rotation.hh>
#include <sot-dynamic/integrator-force.h>
/* STD */
......@@ -56,7 +56,7 @@ namespace ml = maal::boost;
#endif
namespace sot {
namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
......@@ -92,7 +92,7 @@ class SOTINTEGRATORFORCEEXACT_EXPORT IntegratorForceExact
};
} // namespace sot
} /* namespace sot */} /* namespace dynamicgraph */
......
......@@ -33,9 +33,9 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot-core/matrix-homogeneous.h>
#include <sot/core/matrix-homogeneous.hh>
#include <sot-core/vector-roll-pitch-yaw.h>
#include <sot-core/matrix-rotation.h>
#include <sot/core/matrix-rotation.hh>
#include <sot-dynamic/integrator-force.h>
/* STD */
......@@ -56,7 +56,7 @@ namespace ml = maal::boost;
#endif
namespace sot {
namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
......@@ -92,7 +92,7 @@ class SOTINTEGRATORFORCERK4_EXPORT IntegratorForceRK4
};
} // namespace sot
} /* namespace sot */} /* namespace dynamicgraph */
......
......@@ -33,9 +33,9 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot-core/matrix-homogeneous.h>
#include <sot/core/matrix-homogeneous.hh>
#include <sot-core/vector-roll-pitch-yaw.h>
#include <sot-core/matrix-rotation.h>
#include <sot/core/matrix-rotation.hh>
/* STD */
#include <string>
......@@ -55,7 +55,7 @@ namespace ml = maal::boost;
#endif
namespace sot {
namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
......@@ -112,7 +112,7 @@ class SOTINTEGRATORFORCE_EXPORT IntegratorForce
};
} // namespace sot
} /* namespace sot */} /* namespace dynamicgraph */
......
......@@ -33,9 +33,9 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot-core/matrix-homogeneous.h>
#include <sot/core/matrix-homogeneous.hh>
#include <sot-core/vector-roll-pitch-yaw.h>
#include <sot-core/matrix-rotation.h>
#include <sot/core/matrix-rotation.hh>
/* STD */
#include <string>
......@@ -55,42 +55,42 @@ namespace ml = maal::boost;
#endif
namespace sot {
namespace dg = dynamicgraph;
namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class SOTMASSAPPARENT_EXPORT MassApparent
:public dg::Entity
{
public:
static const std::string CLASS_NAME;
public: /* --- CONSTRUCTION --- */
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class SOTMASSAPPARENT_EXPORT MassApparent
:public dg::Entity
{
public:
static const std::string CLASS_NAME;
MassApparent( const std::string& name );
virtual ~MassApparent( void );
public: /* --- CONSTRUCTION --- */
public: /* --- SIGNAL --- */
MassApparent( const std::string& name );
virtual ~MassApparent( void );
dg::SignalPtr<ml::Matrix,int> jacobianSIN;
dg::SignalPtr<ml::Matrix,int> inertiaInverseSIN;
dg::SignalTimeDependent<ml::Matrix,int> massInverseSOUT;
dg::SignalTimeDependent<ml::Matrix,int> massSOUT;
public: /* --- SIGNAL --- */
dg::SignalPtr<ml::Matrix,int> inertiaSIN;
dg::SignalTimeDependent<ml::Matrix,int> inertiaInverseSOUT;
dg::SignalPtr<ml::Matrix,int> jacobianSIN;
dg::SignalPtr<ml::Matrix,int> inertiaInverseSIN;
dg::SignalTimeDependent<ml::Matrix,int> massInverseSOUT;
dg::SignalTimeDependent<ml::Matrix,int> massSOUT;
public: /* --- FUNCTIONS --- */
ml::Matrix& computeMassInverse( ml::Matrix& res,const int& time );
ml::Matrix& computeMass( ml::Matrix& res,const int& time );
ml::Matrix& computeInertiaInverse( ml::Matrix& res,const int& time );
};
dg::SignalPtr<ml::Matrix,int> inertiaSIN;
dg::SignalTimeDependent<ml::Matrix,int> inertiaInverseSOUT;
public: /* --- FUNCTIONS --- */
ml::Matrix& computeMassInverse( ml::Matrix& res,const int& time );
ml::Matrix& computeMass( ml::Matrix& res,const int& time );
ml::Matrix& computeInertiaInverse( ml::Matrix& res,const int& time );
};
}
} // namespace sot
} // namespace dynamicgraph
#endif // #ifndef __SOT_SOTMASSAPPARENT_H__
......@@ -28,8 +28,8 @@
#include <sot-core/matrix-twist.h>
#include <sot-core/matrix-force.h>
#include <sot-core/matrix-rotation.h>
#include <sot-core/matrix-homogeneous.h>
#include <sot/core/matrix-rotation.hh>
#include <sot/core/matrix-homogeneous.hh>
namespace dynamicsJRLJapan
{
......@@ -54,7 +54,7 @@ class CjrlJoint;
#endif
namespace sot {
namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* -------------------------------------------------------------------------- */
......@@ -99,6 +99,6 @@ private:
};
} // namespace sot
} /* namespace sot */} /* namespace dynamicgraph */
#endif // __SOT_SOTMATRIXINERTIA_H__
......@@ -33,7 +33,7 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot-core/matrix-homogeneous.h>
#include <sot/core/matrix-homogeneous.hh>
#include <sot-core/vector-roll-pitch-yaw.h>
/* STD */
......@@ -54,7 +54,7 @@ namespace ml = maal::boost;
#endif
namespace sot {
namespace dynamicgraph { namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
......@@ -130,7 +130,7 @@ class SOTWAISTATTITUDEFROMSENSOR_EXPORT WaistPoseFromSensorAndContact
};
} // namespace sot
} /* namespace sot */} /* namespace dynamicgraph */
#endif // #ifndef __SOT_WAISTATTITUDEFROMSENSOR_H__
......