Unverified Commit 90409a65 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #50 from nim65s/topic/delete-shell

Remove shell
parents d621620a 82d1317a
Pipeline #1354 passed with stage
in 24 minutes and 8 seconds
...@@ -58,8 +58,8 @@ namespace dynamicgraph { ...@@ -58,8 +58,8 @@ namespace dynamicgraph {
{ {
typedef AdmittanceController EntityClassName; typedef AdmittanceController EntityClassName;
DYNAMIC_GRAPH_ENTITY_DECL(); DYNAMIC_GRAPH_ENTITY_DECL();
public: public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */ /* --- CONSTRUCTOR ---- */
...@@ -102,15 +102,12 @@ namespace dynamicgraph { ...@@ -102,15 +102,12 @@ namespace dynamicgraph {
/* --- COMMANDS --- */ /* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */ /* --- ENTITY INHERITANCE --- */
virtual void display( std::ostream& os ) const; virtual void display( std::ostream& os ) const;
virtual void commandLine(const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os);
void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0) void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
{ {
getLogger().sendMsg("["+name+"] "+msg, t, file, line); getLogger().sendMsg("["+name+"] "+msg, t, file, line);
} }
protected: protected:
Eigen::VectorXd m_u; /// control (i.e. motor currents) Eigen::VectorXd m_u; /// control (i.e. motor currents)
bool m_firstIter; bool m_firstIter;
...@@ -157,7 +154,7 @@ namespace dynamicgraph { ...@@ -157,7 +154,7 @@ namespace dynamicgraph {
// tsid::math::Vector3 m_zmp_RF; /// 3d zmp left foot // tsid::math::Vector3 m_zmp_RF; /// 3d zmp left foot
// tsid::math::Vector3 m_zmp; /// 3d global zmp // tsid::math::Vector3 m_zmp; /// 3d global zmp
}; // class AdmittanceController }; // class AdmittanceController
} // namespace torque_control } // namespace torque_control
} // namespace sot } // namespace sot
} // namespace dynamicgraph } // namespace dynamicgraph
......
...@@ -58,7 +58,7 @@ namespace dynamicgraph { ...@@ -58,7 +58,7 @@ namespace dynamicgraph {
/* --- CLASS ----------------------------------------------------------- */ /* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */ /* --------------------------------------------------------------------- */
/** Compute s12 as an intermediate transform between s1 and s2 SE3 transforms**/ /** 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); void se3Interp(const se3::SE3 & s1, const se3::SE3 & s2, const double alpha, se3::SE3 & s12);
...@@ -70,13 +70,13 @@ namespace dynamicgraph { ...@@ -70,13 +70,13 @@ namespace dynamicgraph {
/** Convert from Transformation Matrix to Roll, Pitch, Yaw */ /** Convert from Transformation Matrix to Roll, Pitch, Yaw */
void matrixToRpy(const Eigen::Matrix3d & M, Eigen::Vector3d & rpy); void matrixToRpy(const Eigen::Matrix3d & M, Eigen::Vector3d & rpy);
/** Multiply to quaternions stored in (w,x,y,z) format */ /** Multiply to quaternions stored in (w,x,y,z) format */
void quanternionMult(const Eigen::Vector4d & q1, const Eigen::Vector4d & q2, Eigen::Vector4d & q12); 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 */ /** 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); void pointRotationByQuaternion(const Eigen::Vector3d & point,const Eigen::Vector4d & quat, Eigen::Vector3d & rotatedPoint);
class SOTBASEESTIMATOR_EXPORT BaseEstimator class SOTBASEESTIMATOR_EXPORT BaseEstimator
:public::dynamicgraph::Entity :public::dynamicgraph::Entity
{ {
...@@ -91,7 +91,7 @@ namespace dynamicgraph { ...@@ -91,7 +91,7 @@ namespace dynamicgraph {
typedef boost::math::normal normal; typedef boost::math::normal normal;
DYNAMIC_GRAPH_ENTITY_DECL(); DYNAMIC_GRAPH_ENTITY_DECL();
public: public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
...@@ -99,7 +99,7 @@ namespace dynamicgraph { ...@@ -99,7 +99,7 @@ namespace dynamicgraph {
BaseEstimator( const std::string & name ); BaseEstimator( const std::string & name );
void init(const double & dt, const std::string& urdfFile); void init(const double & dt, const std::string& urdfFile);
void set_fz_stable_windows_size(const int & ws); void set_fz_stable_windows_size(const int & ws);
void set_alpha_w_filter(const double & a); void set_alpha_w_filter(const double & a);
void set_alpha_DC_acc(const double & a); void set_alpha_DC_acc(const double & a);
...@@ -168,15 +168,12 @@ namespace dynamicgraph { ...@@ -168,15 +168,12 @@ namespace dynamicgraph {
/* --- COMMANDS --- */ /* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */ /* --- ENTITY INHERITANCE --- */
virtual void display( std::ostream& os ) const; virtual void display( std::ostream& os ) const;
virtual void commandLine(const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os);
void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0) void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
{ {
getLogger().sendMsg("["+name+"] "+msg, t, file, line); getLogger().sendMsg("["+name+"] "+msg, t, file, line);
} }
protected: protected:
bool m_initSucceeded; /// true if the entity has been successfully initialized bool m_initSucceeded; /// true if the entity has been successfully initialized
bool m_reset_foot_pos; /// true after the command resetFootPositions is called bool m_reset_foot_pos; /// true after the command resetFootPositions is called
...@@ -214,12 +211,12 @@ namespace dynamicgraph { ...@@ -214,12 +211,12 @@ namespace dynamicgraph {
double m_alpha_DC_acc; /// alpha parameter for DC blocker filter on acceleration data 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_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_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_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 double m_w_rf_filtered; /// filtered weight of the estimation coming from the right foot
se3::Model m_model; /// Pinocchio robot model se3::Model m_model; /// Pinocchio robot model
se3::Data *m_data; /// Pinocchio robot data se3::Data *m_data; /// Pinocchio robot data
se3::SE3 m_oMff_lf; /// world-to-base transformation obtained through left foot se3::SE3 m_oMff_lf; /// world-to-base transformation obtained through left foot
...@@ -228,10 +225,10 @@ namespace dynamicgraph { ...@@ -228,10 +225,10 @@ namespace dynamicgraph {
SE3 m_oMrfs; /// transformation from world to right foot sole SE3 m_oMrfs; /// transformation from world to right foot sole
Vector7 m_oMlfs_xyzquat; Vector7 m_oMlfs_xyzquat;
Vector7 m_oMrfs_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_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 SE3 m_oMrfs_default_ref;/// Default reference for right foot pose to use if no ref is pluged
normal m_normal; /// Normal distribution normal m_normal; /// Normal distribution
bool m_isFirstIterFlag; /// flag to detect first iteration and initialise velocity filters 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 m_sole_M_ftSens; /// foot sole to F/T sensor transformation
...@@ -246,14 +243,14 @@ namespace dynamicgraph { ...@@ -246,14 +243,14 @@ namespace dynamicgraph {
Eigen::VectorXd m_v_sot; /// robot velocities according to SoT 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_oRchest; /// chest orientation in the world from angular fusion
Matrix3 m_oRff; /// base orientation in the world Matrix3 m_oRff; /// base orientation in the world
/* Filter buffers*/ /* Filter buffers*/
Vector3 m_last_vel; Vector3 m_last_vel;
Vector3 m_last_DCvel; Vector3 m_last_DCvel;
Vector3 m_last_DCacc; Vector3 m_last_DCacc;
}; // class BaseEstimator }; // class BaseEstimator
} // namespace torque_control } // namespace torque_control
} // namespace sot } // namespace sot
} // namespace dynamicgraph } // namespace dynamicgraph
......
...@@ -63,8 +63,8 @@ namespace dynamicgraph { ...@@ -63,8 +63,8 @@ namespace dynamicgraph {
{ {
typedef FreeFlyerLocator EntityClassName; typedef FreeFlyerLocator EntityClassName;
DYNAMIC_GRAPH_ENTITY_DECL(); DYNAMIC_GRAPH_ENTITY_DECL();
public: public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */ /* --- CONSTRUCTOR ---- */
...@@ -83,16 +83,13 @@ namespace dynamicgraph { ...@@ -83,16 +83,13 @@ namespace dynamicgraph {
/// base6d_encoders with base6d in RPY /// base6d_encoders with base6d in RPY
DECLARE_SIGNAL_OUT(base6dFromFoot_encoders, dynamicgraph::Vector); DECLARE_SIGNAL_OUT(base6dFromFoot_encoders, dynamicgraph::Vector);
/// n+6 robot velocities /// n+6 robot velocities
DECLARE_SIGNAL_OUT(v, dynamicgraph::Vector); DECLARE_SIGNAL_OUT(v, dynamicgraph::Vector);
/* --- COMMANDS --- */ /* --- COMMANDS --- */
void displayRobotUtil(); void displayRobotUtil();
/* --- ENTITY INHERITANCE --- */ /* --- ENTITY INHERITANCE --- */
virtual void display( std::ostream& os ) const; virtual void display( std::ostream& os ) const;
virtual void commandLine(const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os);
void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0) void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
{ {
...@@ -100,10 +97,10 @@ namespace dynamicgraph { ...@@ -100,10 +97,10 @@ namespace dynamicgraph {
} }
protected: protected:
bool m_initSucceeded; /// true if the entity has been successfully initialized bool m_initSucceeded; /// true if the entity has been successfully initialized
se3::Model *m_model; /// Pinocchio robot model se3::Model *m_model; /// Pinocchio robot model
se3::Data *m_data; /// Pinocchio robot data se3::Data *m_data; /// Pinocchio robot data
se3::SE3 m_Mff; /// SE3 Transform from center of feet to base se3::SE3 m_Mff; /// SE3 Transform from center of feet to base
se3::SE3 m_w_M_lf; se3::SE3 m_w_M_lf;
se3::SE3 m_w_M_rf; se3::SE3 m_w_M_rf;
...@@ -117,7 +114,7 @@ namespace dynamicgraph { ...@@ -117,7 +114,7 @@ namespace dynamicgraph {
RobotUtil * m_robot_util; RobotUtil * m_robot_util;
}; // class FreeFlyerLocator }; // class FreeFlyerLocator
} // namespace torque_control } // namespace torque_control
} // namespace sot } // namespace sot
} // namespace dynamicgraph } // namespace dynamicgraph
......
...@@ -76,9 +76,7 @@ namespace dynamicgraph { ...@@ -76,9 +76,7 @@ namespace dynamicgraph {
protected: protected:
/* --- ENTITY INHERITANCE --- */ /* --- ENTITY INHERITANCE --- */
virtual void display( std::ostream& os ) const; virtual void display( std::ostream& os ) const;
virtual void commandLine(const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os);
/* --- METHODS --- */ /* --- METHODS --- */
void update_offset_impl(int iter); void update_offset_impl(int iter);
void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0) void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
......
...@@ -68,14 +68,14 @@ namespace dynamicgraph { ...@@ -68,14 +68,14 @@ namespace dynamicgraph {
{ {
typedef InverseDynamicsBalanceController EntityClassName; typedef InverseDynamicsBalanceController EntityClassName;
DYNAMIC_GRAPH_ENTITY_DECL(); DYNAMIC_GRAPH_ENTITY_DECL();
public: public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */ /* --- CONSTRUCTOR ---- */
InverseDynamicsBalanceController( const std::string & name ); InverseDynamicsBalanceController( const std::string & name );
void init(const double& dt, void init(const double& dt,
const std::string& robotRef); const std::string& robotRef);
void updateComOffset(); void updateComOffset();
void removeRightFootContact(const double& transitionTime); void removeRightFootContact(const double& transitionTime);
...@@ -147,7 +147,7 @@ namespace dynamicgraph { ...@@ -147,7 +147,7 @@ namespace dynamicgraph {
DECLARE_SIGNAL_IN(wrench_right_foot, dynamicgraph::Vector); DECLARE_SIGNAL_IN(wrench_right_foot, dynamicgraph::Vector);
DECLARE_SIGNAL_IN(active_joints, dynamicgraph::Vector); /// mask with 1 for controlled joints, 0 otherwise DECLARE_SIGNAL_IN(active_joints, dynamicgraph::Vector); /// mask with 1 for controlled joints, 0 otherwise
DECLARE_SIGNAL_OUT(tau_des, dynamicgraph::Vector); DECLARE_SIGNAL_OUT(tau_des, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(M, dynamicgraph::Matrix); DECLARE_SIGNAL_OUT(M, dynamicgraph::Matrix);
DECLARE_SIGNAL_OUT(dv_des, dynamicgraph::Vector); DECLARE_SIGNAL_OUT(dv_des, dynamicgraph::Vector);
...@@ -175,16 +175,13 @@ namespace dynamicgraph { ...@@ -175,16 +175,13 @@ namespace dynamicgraph {
DECLARE_SIGNAL_OUT(left_foot_acc, dynamicgraph::Vector); DECLARE_SIGNAL_OUT(left_foot_acc, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(right_foot_acc_des, dynamicgraph::Vector); DECLARE_SIGNAL_OUT(right_foot_acc_des, dynamicgraph::Vector);
DECLARE_SIGNAL_OUT(left_foot_acc_des, dynamicgraph::Vector); DECLARE_SIGNAL_OUT(left_foot_acc_des, dynamicgraph::Vector);
/// This signal copies active_joints only if it changes from a all false or to an all false value /// This signal copies active_joints only if it changes from a all false or to an all false value
DECLARE_SIGNAL_INNER(active_joints_checked, dynamicgraph::Vector); DECLARE_SIGNAL_INNER(active_joints_checked, dynamicgraph::Vector);
/* --- COMMANDS --- */ /* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */ /* --- ENTITY INHERITANCE --- */
virtual void display( std::ostream& os ) const; virtual void display( std::ostream& os ) const;
virtual void commandLine(const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os);
void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0) void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
{ {
......
...@@ -58,8 +58,8 @@ namespace dynamicgraph { ...@@ -58,8 +58,8 @@ namespace dynamicgraph {
{ {
typedef JointTrajectoryGenerator EntityClassName; typedef JointTrajectoryGenerator EntityClassName;
DYNAMIC_GRAPH_ENTITY_DECL(); DYNAMIC_GRAPH_ENTITY_DECL();
public: public:
/* --- CONSTRUCTOR ---- */ /* --- CONSTRUCTOR ---- */
JointTrajectoryGenerator( const std::string & name ); JointTrajectoryGenerator( const std::string & name );
...@@ -154,18 +154,15 @@ namespace dynamicgraph { ...@@ -154,18 +154,15 @@ namespace dynamicgraph {
* @param forceName A string identifying the force to stop. * @param forceName A string identifying the force to stop.
* */ * */
void stopForce(const std::string& forceName); void stopForce(const std::string& forceName);
/* --- ENTITY INHERITANCE --- */ /* --- ENTITY INHERITANCE --- */
virtual void display( std::ostream& os ) const; virtual void display( std::ostream& os ) const;
virtual void commandLine(const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os);
void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0) void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
{ {
getLogger().sendMsg("[JointTrajectoryGenerator-"+name+"] "+msg, t, file, line); getLogger().sendMsg("[JointTrajectoryGenerator-"+name+"] "+msg, t, file, line);
} }
protected: protected:
enum JTG_Status enum JTG_Status
{ {
...@@ -212,7 +209,7 @@ namespace dynamicgraph { ...@@ -212,7 +209,7 @@ namespace dynamicgraph {
bool isForceInRange(unsigned int id, int axis, double f); bool isForceInRange(unsigned int id, int axis, double f);
}; // class JointTrajectoryGenerator }; // class JointTrajectoryGenerator
} // namespace torque_control } // namespace torque_control
} // namespace sot } // namespace sot
} // namespace dynamicgraph } // namespace dynamicgraph
......
...@@ -88,9 +88,7 @@ namespace dynamicgraph { ...@@ -88,9 +88,7 @@ namespace dynamicgraph {
/* --- COMMANDS --- */ /* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */ /* --- ENTITY INHERITANCE --- */
virtual void display( std::ostream& os ) const; virtual void display( std::ostream& os ) const;
virtual void commandLine(const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os);
/* --- METHODS --- */ /* --- METHODS --- */
float invSqrt(float x); float invSqrt(float x);
void madgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az) ; void madgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az) ;
......
...@@ -67,8 +67,8 @@ namespace dynamicgraph { ...@@ -67,8 +67,8 @@ namespace dynamicgraph {
{ {
typedef NdTrajectoryGenerator EntityClassName; typedef NdTrajectoryGenerator EntityClassName;
DYNAMIC_GRAPH_ENTITY_DECL(); DYNAMIC_GRAPH_ENTITY_DECL();
public: public:
/* --- CONSTRUCTOR ---- */ /* --- CONSTRUCTOR ---- */
NdTrajectoryGenerator( const std::string & name ); NdTrajectoryGenerator( const std::string & name );
...@@ -94,7 +94,7 @@ namespace dynamicgraph { ...@@ -94,7 +94,7 @@ namespace dynamicgraph {
void setSpline(const std::string& filename, const double& timeToInitConf); void setSpline(const std::string& filename, const double& timeToInitConf);
void startSpline(); void startSpline();
/** Print the current value of the specified component. */ /** Print the current value of the specified component. */
void getValue(const int& id); void getValue(const int& id);
...@@ -145,15 +145,12 @@ namespace dynamicgraph { ...@@ -145,15 +145,12 @@ namespace dynamicgraph {
/* --- ENTITY INHERITANCE --- */ /* --- ENTITY INHERITANCE --- */
virtual void display( std::ostream& os ) const; virtual void display( std::ostream& os ) const;
virtual void commandLine(const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os);
void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0) void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
{ {
getLogger().sendMsg("[NdTrajectoryGenerator-"+name+"] "+msg, t, file, line); getLogger().sendMsg("[NdTrajectoryGenerator-"+name+"] "+msg, t, file, line);
} }
protected: protected:
enum JTG_Status enum JTG_Status
{ {
...@@ -187,7 +184,7 @@ namespace dynamicgraph { ...@@ -187,7 +184,7 @@ namespace dynamicgraph {
parametriccurves::Spline<double, Eigen::Dynamic>* m_splineTrajGen; parametriccurves::Spline<double, Eigen::Dynamic>* m_splineTrajGen;
}; // class NdTrajectoryGenerator }; // class NdTrajectoryGenerator
} // namespace torque_control } // namespace torque_control
} // namespace sot } // namespace sot
} // namespace dynamicgraph } // namespace dynamicgraph
......
...@@ -56,8 +56,8 @@ namespace dynamicgraph { ...@@ -56,8 +56,8 @@ namespace dynamicgraph {
{ {
typedef PositionController EntityClassName; typedef PositionController EntityClassName;
DYNAMIC_GRAPH_ENTITY_DECL(); DYNAMIC_GRAPH_ENTITY_DECL();
public: public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* --- CONSTRUCTOR ---- */ /* --- CONSTRUCTOR ---- */
...@@ -84,15 +84,12 @@ namespace dynamicgraph { ...@@ -84,15 +84,12 @@ namespace dynamicgraph {
/* --- COMMANDS --- */ /* --- COMMANDS --- */
/* --- ENTITY INHERITANCE --- */ /* --- ENTITY INHERITANCE --- */
virtual void display( std::ostream& os ) const; virtual void display( std::ostream& os ) const;
virtual void commandLine(const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os);
void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0) void sendMsg(const std::string& msg, MsgType t=MSG_TYPE_INFO, const char* file="", int line=0)
{ {
getLogger().sendMsg("[PositionController-"+name+"] "+msg, t, file, line); getLogger().sendMsg("[PositionController-"+name+"] "+msg, t, file, line);
} }
protected: protected:
RobotUtil * m_robot_util; /// Robot Util RobotUtil * m_robot_util; /// Robot Util
Eigen::VectorXd m_pwmDes; Eigen::VectorXd m_pwmDes;
...@@ -105,7 +102,7 @@ namespace dynamicgraph { ...@@ -105,7 +102,7 @@ namespace dynamicgraph {
Eigen::VectorXd m_q, m_dq; Eigen::VectorXd m_q, m_dq;
}; // class PositionController }; // class PositionController
} // namespace torque_control } // namespace torque_control
} // namespace sot } // namespace sot
} // namespace dynamicgraph } // namespace dynamicgraph
......
...@@ -58,8 +58,8 @@ namespace dynamicgraph { ...@@ -58,8 +58,8 @@ namespace dynamicgraph {
{ {
typedef SE3TrajectoryGenerator EntityClassName; typedef SE3TrajectoryGenerator EntityClassName;
DYNAMIC_GRAPH_ENTITY_DECL(); DYNAMIC_GRAPH_ENTITY_DECL();
public: public:
/* --- CONSTRUCTOR ---- */ /* --- CONSTRUCTOR ---- */
SE3TrajectoryGenerator( const std::string & name ); SE3TrajectoryGenerator( const std::string & name );
...@@ -135,15 +135,12 @@ namespace dynamicgraph { ...@@ -135,15 +135,12 @@ namespace dynamicgraph {
/* --- ENTITY INHERITANCE --- */