flex::Flex Class Reference

#include <flex-joints/flexi-hips.hpp>

Public Member Functions
	Flex ()
	Flex (const FlexSettings &settings)
void	initialize (const FlexSettings &settings)
const eVector2 &	computeDeflection (const eArray2 &torques, const eArray2 &delta0, const eArray2 &stiffness, const eArray2 &damping, const double dt)
const eVector3 &	currentFlexToJoint (const eVector2 &delta)
const eVector2 &	estimateFlexingTorque (const eVector3 &hipPos, const eVector3 &jointTorque)
const eVector2 &	estimateFlexingTorque (const eVector3 &hipPos, const eVector3 &jointTorque, const eVector2 &delta0, const eVector3 &jointForce)
void	correctDeflections (const eVector2 &leftFlexingTorque, const eVector2 &rightFlexingTorque, eVectorX &q, eVectorX &dq)
void	correctEstimatedDeflections (const eVectorX &desiredTorque, eVectorX &q, eVectorX &dq, const eVector3 &leftForce, const eVector3 &rightForce)
void	correctEstimatedDeflections (const eVectorX &desiredTorque, eVectorX &q, eVectorX &dq)
const FlexSettings &	getSettings ()
void	setLeftStiffness (const eVector2 &stiffness)
void	setRightStiffness (const eVector2 &stiffness)
void	setLeftDamping (const eVector2 &damping)
void	setRightDamping (const eVector2 &damping)
void	reset ()
void	setLeftFlex0 (const eVector2 &delta0)
const eVector2 &	getLeftFlex0 (void)
void	setRightFlex0 (const eVector2 &delta0)
const eVector2 &	getRightFlex0 (void)
const eVector2	getLeftFlex (void)
const eVector2	getRightFlex (void)
const eVector2	getLeftFlexRate (void)
const eVector2	getRightFlexRate (void)
const eArray2 &	get_summation_LH (void)
const eArray2 &	get_summation_RH (void)
const std::deque< eArray2 > &	get_queue_LH (void)
const std::deque< eArray2 > &	get_queue_RH (void)

Constructor & Destructor Documentation

Flex() [1/2]

flex::Flex::Flex

(

)

Flex() [2/2]

flex::Flex::Flex

(

const FlexSettings &

settings

)

Member Function Documentation

computeDeflection()

const eVector2 & flex::Flex::computeDeflection	(	const eArray2 &	torques,
		const eArray2 &	delta0,
		const eArray2 &	stiffness,
		const eArray2 &	damping,
		const double	dt )

Computes the deflection expected for certain flexing torque according to:

delta = (delta0 * damping - torques * dt) * inverse(stiffness * dt + damping)

correctDeflections()

void flex::Flex::correctDeflections	(	const eVector2 &	leftFlexingTorque,
		const eVector2 &	rightFlexingTorque,
		eVectorX &	q,
		eVectorX &	dq )

Arguments:

leftFlexTorque and rightFlexingTorque are composed as {pitch_torque, roll_torque}

q and dq are the robot posture and velocities without the freeFlyer part.

correctEstimatedDeflections() [1/2]

void flex::Flex::correctEstimatedDeflections	(	const eVectorX &	desiredTorque,
		eVectorX &	q,
		eVectorX &	dq )

Arguments:

desired torque are the values commanded by the controller.

q and dq are the robot posture and velocities without the freeFlyer part.

correctEstimatedDeflections() [2/2]

void flex::Flex::correctEstimatedDeflections	(	const eVectorX &	desiredTorque,
		eVectorX &	q,
		eVectorX &	dq,
		const eVector3 &	leftForce,
		const eVector3 &	rightForce )

Arguments:

desired torque are the values commanded by the controller.

q and dq are the robot posture and velocities without the freeFlyer part.

Each force (leftForce, rightForce) must be provided in the local hip joint frame.

currentFlexToJoint()

const eVector3 & flex::Flex::currentFlexToJoint

(

const eVector2 &

delta

)

estimateFlexingTorque() [1/2]

const eVector2 & flex::Flex::estimateFlexingTorque	(	const eVector3 &	hipPos,
		const eVector3 &	jointTorque )

estimateFlexingTorque() [2/2]

const eVector2 & flex::Flex::estimateFlexingTorque	(	const eVector3 &	hipPos,
		const eVector3 &	jointTorque,
		const eVector2 &	delta0,
		const eVector3 &	jointForce )

get_queue_LH()

const std::deque< eArray2 > & flex::Flex::get_queue_LH ( void )

inline

get_queue_RH()

const std::deque< eArray2 > & flex::Flex::get_queue_RH ( void )

inline

get_summation_LH()

const eArray2 & flex::Flex::get_summation_LH ( void )

inline

get_summation_RH()

const eArray2 & flex::Flex::get_summation_RH ( void )

inline

getLeftFlex()

const eVector2 flex::Flex::getLeftFlex ( void )

inline

getLeftFlex0()

const eVector2 & flex::Flex::getLeftFlex0 ( void )

inline

getLeftFlexRate()

const eVector2 flex::Flex::getLeftFlexRate ( void )

inline

getRightFlex()

const eVector2 flex::Flex::getRightFlex ( void )

inline

getRightFlex0()

const eVector2 & flex::Flex::getRightFlex0 ( void )

inline

getRightFlexRate()

const eVector2 flex::Flex::getRightFlexRate ( void )

inline

getSettings()

const FlexSettings & flex::Flex::getSettings ( )

inline

initialize()

void flex::Flex::initialize

(

const FlexSettings &

settings

)

reset()

void flex::Flex::reset

(

)

setLeftDamping()

void flex::Flex::setLeftDamping

(

const eVector2 &

damping

)

setLeftFlex0()

void flex::Flex::setLeftFlex0 ( const eVector2 & delta0 )

inline

setLeftStiffness()

void flex::Flex::setLeftStiffness

(

const eVector2 &

stiffness

)

setRightDamping()

void flex::Flex::setRightDamping

(

const eVector2 &

damping

)

setRightFlex0()

void flex::Flex::setRightFlex0 ( const eVector2 & delta0 )

inline

setRightStiffness()

void flex::Flex::setRightStiffness

(

const eVector2 &

stiffness

)

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The documentation for this class was generated from the following files:

• include/flex-joints/flexi-hips.hpp
• src/flexi-hips.cpp