ORCA: Optimization-based framework for Robotic Control Applications
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include
orca
optim
ControlVariable.h
Go to the documentation of this file.
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//| This file is a part of the ORCA framework.
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//|
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//| Copyright 2018, Fuzzy Logic Robotics
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//| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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//|
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//| Main contributor(s): Antoine Hoarau, Ryan Lober, and
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//| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
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//|
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//| ORCA is a whole-body reactive controller framework for robotics.
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//|
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//| This software is governed by the CeCILL-C license under French law and
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//| abiding by the rules of distribution of free software. You can use,
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//| modify and/ or redistribute the software under the terms of the CeCILL-C
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//| license as circulated by CEA, CNRS and INRIA at the following URL
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//| "http://www.cecill.info".
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//|
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//| As a counterpart to the access to the source code and rights to copy,
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//| modify and redistribute granted by the license, users are provided only
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//| with a limited warranty and the software's author, the holder of the
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//| economic rights, and the successive licensors have only limited
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//| liability.
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//|
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//| In this respect, the user's attention is drawn to the risks associated
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//| with loading, using, modifying and/or developing or reproducing the
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//| software by the user in light of its specific status of free software,
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//| that may mean that it is complicated to manipulate, and that also
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//| therefore means that it is reserved for developers and experienced
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//| professionals having in-depth computer knowledge. Users are therefore
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//| encouraged to load and test the software's suitability as regards their
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//| requirements in conditions enabling the security of their systems and/or
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//| data to be ensured and, more generally, to use and operate it in the
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//| same conditions as regards security.
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//|
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//| The fact that you are presently reading this means that you have had
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//| knowledge of the CeCILL-C license and that you accept its terms.
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#pragma once
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#include <iostream>
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namespace
orca
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{
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namespace
optim
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{
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enum class
ControlVariable
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{
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X
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,
GeneralisedAcceleration
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,
FloatingBaseAcceleration
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,
JointAcceleration
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,
GeneralisedTorque
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,
FloatingBaseWrench
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,
JointTorque
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,
ExternalWrench
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,
ExternalWrenches
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,
Composite
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,
None
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};
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static
std::string
ControlVariableToString
(
const
ControlVariable
& cv)
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{
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switch
(cv)
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{
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case
ControlVariable::X
:
return
"X"
;
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case
ControlVariable::GeneralisedAcceleration
:
return
"GeneralisedAcceleration"
;
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case
ControlVariable::FloatingBaseAcceleration
:
return
"FloatingBaseAcceleration"
;
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case
ControlVariable::JointAcceleration
:
return
"JointAcceleration"
;
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case
ControlVariable::GeneralisedTorque
:
return
"GeneralisedTorque"
;
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case
ControlVariable::FloatingBaseWrench
:
return
"FloatingBaseWrench"
;
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case
ControlVariable::JointTorque
:
return
"JointTorque"
;
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case
ControlVariable::ExternalWrench
:
return
"ExternalWrench"
;
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case
ControlVariable::ExternalWrenches
:
return
"ExternalWrenches"
;
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case
ControlVariable::Composite
:
return
"Composite"
;
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case
ControlVariable::None
:
return
"None"
;
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default
:
return
"ERROR"
;
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}
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}
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inline ::std::ostream&
operator<<
(::std::ostream& os,
const
ControlVariable
& cv)
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{
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return
os <<
ControlVariableToString
(cv);
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}
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}
// namespace optim
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}
// namespace orca
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orca::optim::ControlVariable::JointTorque
orca::optim::ControlVariable::None
orca::optim::ControlVariable::X
orca::optim::operator<<
inline::std::ostream & operator<<(::std::ostream &os, const ControlVariable &cv)
Definition:
ControlVariable.h:78
orca::optim::ControlVariable::JointAcceleration
orca::optim::ControlVariable::ExternalWrenches
orca::optim::ControlVariable::Composite
orca::optim::ControlVariable::ExternalWrench
orca::optim::ControlVariable::GeneralisedTorque
orca::optim::ControlVariable::GeneralisedAcceleration
orca
Definition:
CartesianAccelerationPID.h:44
orca::optim::ControlVariable
ControlVariable
Definition:
ControlVariable.h:44
orca::optim::ControlVariable::FloatingBaseAcceleration
orca::optim::ControlVariableToString
static std::string ControlVariableToString(const ControlVariable &cv)
Definition:
ControlVariable.h:59
orca::optim::ControlVariable::FloatingBaseWrench
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