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Stack Of Tasks
sot-torque-control
Commits
9dcfe259
Unverified
Commit
9dcfe259
authored
Apr 16, 2019
by
olivier stasse
Committed by
GitHub
Apr 16, 2019
Browse files
Merge pull request #63 from olivier-stasse/devel
This PR fix bugs related to changes push in sot-core and dynamic-graph
parents
3f0fec5c
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Pipeline
#4238
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in 13 minutes and 31 seconds
Changes
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include/sot/torque_control/admittance-controller.hh
View file @
9dcfe259
...
...
@@ -108,7 +108,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
@@ -146,7 +146,7 @@ namespace dynamicgraph {
tsid
::
math
::
Vector6
m_v_RF_int
;
tsid
::
math
::
Vector6
m_v_LF_int
;
RobotUtil
*
m_robot_util
;
RobotUtil
ShrPtr
m_robot_util
;
// tsid::math::Vector3 m_zmp_des_LF; /// 3d desired zmp left foot
// tsid::math::Vector3 m_zmp_des_RF; /// 3d desired zmp left foot
...
...
include/sot/torque_control/base-estimator.hh
View file @
9dcfe259
...
...
@@ -174,14 +174,14 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
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
;
RobotUtil
ShrPtr
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
...
...
include/sot/torque_control/control-manager.hh
View file @
9dcfe259
...
...
@@ -88,9 +88,9 @@ namespace dynamicgraph {
/* --- CONSTRUCTOR ---- */
ControlManager
(
const
std
::
string
&
name
);
/// Initialize
/// @param dt: control interval
/// @param urdfFile: path to the URDF model of the robot
/// Initialize
/// @param dt: control interval
/// @param urdfFile: path to the URDF model of the robot
void
init
(
const
double
&
dt
,
const
std
::
string
&
urdfFile
,
const
std
::
string
&
robotRef
);
...
...
@@ -112,35 +112,39 @@ namespace dynamicgraph {
/* --- COMMANDS --- */
/// Commands related to the control mode.
/// Commands related to the control mode.
void
addCtrlMode
(
const
std
::
string
&
name
);
void
ctrlModes
();
void
getCtrlMode
(
const
std
::
string
&
jointName
);
void
setCtrlMode
(
const
std
::
string
&
jointName
,
const
std
::
string
&
ctrlMode
);
void
setCtrlMode
(
const
int
jid
,
const
CtrlMode
&
cm
);
void
resetProfiler
();
/// Commands related to joint name and joint id
void
setNameToId
(
const
std
::
string
&
jointName
,
const
double
&
jointId
);
void
setJointLimitsFromId
(
const
double
&
jointId
,
const
double
&
lq
,
const
double
&
uq
);
/// Command related to ForceUtil
void
setForceLimitsFromId
(
const
double
&
jointId
,
const
dynamicgraph
::
Vector
&
lq
,
const
dynamicgraph
::
Vector
&
uq
);
void
setForceNameToForceId
(
const
std
::
string
&
forceName
,
const
double
&
forceId
);
/// Commands related to FootUtil
void
setRightFootSoleXYZ
(
const
dynamicgraph
::
Vector
&
);
/// Commands related to joint name and joint id
void
setNameToId
(
const
std
::
string
&
jointName
,
const
double
&
jointId
);
void
setJointLimitsFromId
(
const
double
&
jointId
,
const
double
&
lq
,
const
double
&
uq
);
/// Command related to ForceUtil
void
setForceLimitsFromId
(
const
double
&
jointId
,
const
dynamicgraph
::
Vector
&
lq
,
const
dynamicgraph
::
Vector
&
uq
);
void
setForceNameToForceId
(
const
std
::
string
&
forceName
,
const
double
&
forceId
);
/// Commands related to FootUtil
void
setRightFootSoleXYZ
(
const
dynamicgraph
::
Vector
&
);
void
setRightFootForceSensorXYZ
(
const
dynamicgraph
::
Vector
&
);
void
setFootFrameName
(
const
std
::
string
&
,
const
std
::
string
&
);
void
setFootFrameName
(
const
std
::
string
&
,
const
std
::
string
&
);
void
setImuJointName
(
const
std
::
string
&
);
void
displayRobotUtil
();
/// Set the mapping between urdf and sot.
void
setJoints
(
const
dynamicgraph
::
Vector
&
);
void
displayRobotUtil
();
/// Commands related to HandUtil
void
setHandFrameName
(
const
std
::
string
&
,
const
std
::
string
&
);
/// Set the mapping between urdf and sot.
void
setJoints
(
const
dynamicgraph
::
Vector
&
);
void
setStreamPrintPeriod
(
const
double
&
s
);
void
setSleepTime
(
const
double
&
seconds
);
...
...
@@ -151,11 +155,11 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[ControlManager-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[ControlManager-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
RobotUtil
*
m_robot_util
;
RobotUtil
ShrPtr
m_robot_util
;
tsid
::
robots
::
RobotWrapper
*
m_robot
;
bool
m_initSucceeded
;
/// true if the entity has been successfully initialized
double
m_dt
;
/// control loop time period
...
...
include/sot/torque_control/current-controller.hh
View file @
9dcfe259
...
...
@@ -115,11 +115,11 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[CurrentController-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[CurrentController-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
RobotUtil
*
m_robot_util
;
RobotUtil
ShrPtr
m_robot_util
;
bool
m_initSucceeded
;
/// true if the entity has been successfully initialized
bool
m_emergency_stop_triggered
;
double
m_dt
;
/// control loop time period
...
...
include/sot/torque_control/ddp-actuator-solver.hh
View file @
9dcfe259
...
...
@@ -34,7 +34,7 @@ namespace dynamicgraph {
#define ALL_INPUT_SIGNALS m_pos_desSIN << m_pos_motor_measureSIN \
<< m_pos_joint_measureSIN << m_dx_measureSIN \
<< m_tau_measureSIN << m_temp_measureSIN
<< m_tau_measureSIN << m_temp_measureSIN
<< m_tau_desSIN
#define ALL_OUTPUT_SIGNALS m_tauSOUT
...
...
@@ -49,7 +49,8 @@ namespace dynamicgraph {
DECLARE_SIGNAL_IN
(
pos_joint_measure
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
dx_measure
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
tau_measure
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
temp_measure
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
tau_des
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
temp_measure
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
tau
,
dynamicgraph
::
Vector
);
protected:
...
...
include/sot/torque_control/device-torque-ctrl.hh
View file @
9dcfe259
...
...
@@ -98,7 +98,7 @@ namespace dynamicgraph
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[DeviceTorqueCtrl] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[DeviceTorqueCtrl] "
+
msg
,
t
,
file
,
line
);
}
/// \brief Current integration step.
...
...
@@ -176,7 +176,7 @@ namespace dynamicgraph
DIST
normalDistribution_
;
GEN
normalRandomNumberGenerator_
;
RobotUtil
*
m_robot_util
;
RobotUtil
ShrPtr
m_robot_util
;
};
}
// end namespace torque_control
...
...
include/sot/torque_control/filter-differentiator.hh
View file @
9dcfe259
...
...
@@ -106,7 +106,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
public:
/* --- ENTITY INHERITANCE --- */
...
...
include/sot/torque_control/free-flyer-locator.hh
View file @
9dcfe259
...
...
@@ -97,7 +97,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[FreeFlyerLocator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[FreeFlyerLocator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
@@ -115,7 +115,7 @@ namespace dynamicgraph {
Eigen
::
VectorXd
m_v_pin
;
/// robot velocities according to pinocchio convention
Eigen
::
VectorXd
m_v_sot
;
/// robot velocities according to SoT convention
RobotUtil
*
m_robot_util
;
RobotUtil
ShrPtr
m_robot_util
;
};
// class FreeFlyerLocator
...
...
include/sot/torque_control/imu_offset_compensation.hh
View file @
9dcfe259
...
...
@@ -84,7 +84,7 @@ namespace dynamicgraph {
void
update_offset_impl
(
int
iter
);
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[ImuOffsetCompensation-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[ImuOffsetCompensation-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/inverse-dynamics-balance-controller.hh
View file @
9dcfe259
...
...
@@ -85,6 +85,10 @@ namespace dynamicgraph {
void
removeLeftFootContact
(
const
double
&
transitionTime
);
void
addRightFootContact
(
const
double
&
transitionTime
);
void
addLeftFootContact
(
const
double
&
transitionTime
);
void
addTaskRightHand
(
/*const double& transitionTime*/
);
void
removeTaskRightHand
(
const
double
&
transitionTime
);
void
addTaskLeftHand
(
/*const double& transitionTime*/
);
void
removeTaskLeftHand
(
const
double
&
transitionTime
);
/* --- SIGNALS --- */
DECLARE_SIGNAL_IN
(
com_ref_pos
,
dynamicgraph
::
Vector
);
...
...
@@ -96,6 +100,12 @@ namespace dynamicgraph {
DECLARE_SIGNAL_IN
(
lf_ref_pos
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
lf_ref_vel
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
lf_ref_acc
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
rh_ref_pos
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
rh_ref_vel
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
rh_ref_acc
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
lh_ref_pos
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
lh_ref_vel
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
lh_ref_acc
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
posture_ref_pos
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
posture_ref_vel
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
posture_ref_acc
,
dynamicgraph
::
Vector
);
...
...
@@ -113,6 +123,8 @@ namespace dynamicgraph {
DECLARE_SIGNAL_IN
(
kd_com
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
kp_feet
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
kd_feet
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
kp_hands
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
kd_hands
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
kp_posture
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
kd_posture
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_IN
(
kp_pos
,
dynamicgraph
::
Vector
);
...
...
@@ -120,6 +132,7 @@ namespace dynamicgraph {
DECLARE_SIGNAL_IN
(
w_com
,
double
);
DECLARE_SIGNAL_IN
(
w_feet
,
double
);
DECLARE_SIGNAL_IN
(
w_hands
,
double
);
DECLARE_SIGNAL_IN
(
w_posture
,
double
);
DECLARE_SIGNAL_IN
(
w_base_orientation
,
double
);
DECLARE_SIGNAL_IN
(
w_torques
,
double
);
...
...
@@ -172,10 +185,16 @@ namespace dynamicgraph {
DECLARE_SIGNAL_OUT
(
base_orientation
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
right_foot_pos
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
left_foot_pos
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
right_hand_pos
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
left_hand_pos
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
right_foot_vel
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
left_foot_vel
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
right_hand_vel
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
left_hand_vel
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
right_foot_acc
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
left_foot_acc
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
right_hand_acc
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
left_hand_acc
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
right_foot_acc_des
,
dynamicgraph
::
Vector
);
DECLARE_SIGNAL_OUT
(
left_foot_acc_des
,
dynamicgraph
::
Vector
);
...
...
@@ -188,7 +207,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
@@ -210,9 +229,29 @@ namespace dynamicgraph {
ContactState
m_contactState
;
double
m_contactTransitionTime
;
/// end time of the current contact transition (if any)
enum
RightHandState
{
TASK_RIGHT_HAND_ON
=
0
,
/*TASK_RIGHT_HAND_TRANSITION = 1,*/
TASK_RIGHT_HAND_OFF
=
1
};
RightHandState
m_rightHandState
;
enum
LeftHandState
{
TASK_LEFT_HAND_ON
=
0
,
/*TASK_LEFT_HAND_TRANSITION = 1,*/
TASK_LEFT_HAND_OFF
=
1
};
LeftHandState
m_leftHandState
;
/*double m_handsTransitionTime;*/
/// end time of the current transition (if any)
int
m_frame_id_rf
;
/// frame id of right foot
int
m_frame_id_lf
;
/// frame id of left foot
int
m_frame_id_rh
;
/// frame id of right hand
int
m_frame_id_lh
;
/// frame id of left hand
/// tsid
tsid
::
robots
::
RobotWrapper
*
m_robot
;
tsid
::
solvers
::
SolverHQPBase
*
m_hqpSolver
;
...
...
@@ -221,19 +260,26 @@ namespace dynamicgraph {
tsid
::
InverseDynamicsFormulationAccForce
*
m_invDyn
;
tsid
::
contacts
::
Contact6d
*
m_contactRF
;
tsid
::
contacts
::
Contact6d
*
m_contactLF
;
tsid
::
contacts
::
Contact6d
*
m_contactRH
;
tsid
::
contacts
::
Contact6d
*
m_contactLH
;
tsid
::
tasks
::
TaskComEquality
*
m_taskCom
;
tsid
::
tasks
::
TaskSE3Equality
*
m_taskRF
;
tsid
::
tasks
::
TaskSE3Equality
*
m_taskLF
;
tsid
::
tasks
::
TaskSE3Equality
*
m_taskRH
;
tsid
::
tasks
::
TaskSE3Equality
*
m_taskLH
;
tsid
::
tasks
::
TaskJointPosture
*
m_taskPosture
;
tsid
::
tasks
::
TaskJointPosture
*
m_taskBlockedJoints
;
tsid
::
trajectories
::
TrajectorySample
m_sampleCom
;
tsid
::
trajectories
::
TrajectorySample
m_sampleRF
;
tsid
::
trajectories
::
TrajectorySample
m_sampleLF
;
tsid
::
trajectories
::
TrajectorySample
m_sampleRH
;
tsid
::
trajectories
::
TrajectorySample
m_sampleLH
;
tsid
::
trajectories
::
TrajectorySample
m_samplePosture
;
double
m_w_com
;
double
m_w_posture
;
double
m_w_hands
;
tsid
::
math
::
Vector
m_dv_sot
;
/// desired accelerations (sot order)
tsid
::
math
::
Vector
m_dv_urdf
;
/// desired accelerations (urdf order)
...
...
@@ -262,7 +308,7 @@ namespace dynamicgraph {
tsid
::
math
::
Vector6
m_v_LF_int
;
unsigned
int
m_timeLast
;
RobotUtil
*
m_robot_util
;
RobotUtil
ShrPtr
m_robot_util
;
};
// class InverseDynamicsBalanceController
}
// namespace torque_control
...
...
include/sot/torque_control/joint-torque-controller.hh
View file @
9dcfe259
...
...
@@ -124,11 +124,11 @@ namespace dynamicgraph {
// Eigen::VectorXd m_dqDesIntegral; /// integral of the desired velocity
Eigen
::
VectorXd
m_dqErrIntegral
;
/// integral of the velocity error
RobotUtil
*
m_robot_util
;
RobotUtil
ShrPtr
m_robot_util
;
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
public:
...
...
include/sot/torque_control/joint-trajectory-generator.hh
View file @
9dcfe259
...
...
@@ -163,7 +163,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[JointTrajectoryGenerator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[JointTrajectoryGenerator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
@@ -182,7 +182,7 @@ namespace dynamicgraph {
bool
m_firstIter
;
/// true if it is the first iteration, false otherwise
double
m_dt
;
/// control loop time period
RobotUtil
*
m_robot_util
;
RobotUtil
ShrPtr
m_robot_util
;
std
::
vector
<
int
>
m_iterForceSignals
;
...
...
include/sot/torque_control/madgwickahrs.hh
View file @
9dcfe259
...
...
@@ -97,7 +97,7 @@ namespace dynamicgraph {
//void madgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[MadgwickAHRS-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[MadgwickAHRS-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/nd-trajectory-generator.hh
View file @
9dcfe259
...
...
@@ -148,7 +148,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[NdTrajectoryGenerator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[NdTrajectoryGenerator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/numerical-difference.hh
View file @
9dcfe259
...
...
@@ -117,7 +117,7 @@ namespace dynamicgraph {
protected:
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
public:
/* --- ENTITY INHERITANCE --- */
...
...
include/sot/torque_control/position-controller.hh
View file @
9dcfe259
...
...
@@ -89,11 +89,11 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[PositionController-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[PositionController-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
RobotUtil
*
m_robot_util
;
/// Robot Util
RobotUtil
ShrPtr
m_robot_util
;
/// Robot Util
Eigen
::
VectorXd
m_pwmDes
;
bool
m_initSucceeded
;
/// true if the entity has been successfully initialized
double
m_dt
;
/// control loop time period
...
...
include/sot/torque_control/se3-trajectory-generator.hh
View file @
9dcfe259
...
...
@@ -140,7 +140,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[SE3TrajectoryGenerator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[SE3TrajectoryGenerator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/torque-offset-estimator.hh
View file @
9dcfe259
...
...
@@ -94,7 +94,7 @@ namespace dynamicgraph {
DECLARE_SIGNAL_OUT
(
jointTorquesEstimated
,
dynamicgraph
::
Vector
);
protected:
RobotUtil
*
m_robot_util
;
RobotUtil
ShrPtr
m_robot_util
;
pinocchio
::
Model
m_model
;
/// Pinocchio robot model
pinocchio
::
Data
*
m_data
;
/// Pinocchio robot data
int
n_iterations
;
//Number of iterations to consider
...
...
@@ -114,7 +114,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
private:
...
...
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