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Commit 62e0b21d authored by Florent Lamiraux's avatar Florent Lamiraux
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Register signal one by one.

parent 78e955c5
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1 merge request!1[major][cpp] starting point to integrate pinocchio
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src/angle-estimator.cpp
+ 15
− 7
View file @ 62e0b21d
...@@ -91,13 +91,21 @@ AngleEstimator( const std::string & name ) ...@@ -91,13 +91,21 @@ AngleEstimator( const std::string & name )
{ {
sotDEBUGIN(5); sotDEBUGIN(5);
signalRegistration( sensorWorldRotationSIN << sensorEmbeddedPositionSIN signalRegistration(sensorWorldRotationSIN);
<< contactWorldPositionSIN << contactEmbeddedPositionSIN signalRegistration(sensorEmbeddedPositionSIN);
<< anglesSOUT << flexibilitySOUT signalRegistration(contactWorldPositionSIN);
<< driftSOUT << sensorWorldRotationSOUT signalRegistration(contactEmbeddedPositionSIN);
<< waistWorldRotationSOUT signalRegistration(anglesSOUT);
<< waistWorldPositionSOUT << waistWorldPoseRPYSOUT signalRegistration(flexibilitySOUT);
<< jacobianSIN << qdotSIN << xff_dotSOUT << qdotSOUT ); signalRegistration(driftSOUT);
signalRegistration(sensorWorldRotationSOUT);
signalRegistration(waistWorldRotationSOUT);
signalRegistration(waistWorldPositionSOUT);
signalRegistration(waistWorldPoseRPYSOUT);
signalRegistration(jacobianSIN);
signalRegistration(qdotSIN);
signalRegistration(xff_dotSOUT);
signalRegistration(qdotSOUT);
/* Commands. */ /* Commands. */
{ {
......
src/dynamic.cpp
+ 19
− 7
View file @ 62e0b21d
...@@ -145,13 +145,25 @@ Dynamic( const std::string & name, bool build ) ...@@ -145,13 +145,25 @@ Dynamic( const std::string & name, bool build )
firstSINTERN.setDependencyType(TimeDependency<int>::BOOL_DEPENDENT); firstSINTERN.setDependencyType(TimeDependency<int>::BOOL_DEPENDENT);
//DEBUG: Why =0? should be function. firstSINTERN.setConstant(0); //DEBUG: Why =0? should be function. firstSINTERN.setConstant(0);
signalRegistration( jointPositionSIN<<freeFlyerPositionSIN signalRegistration(jointPositionSIN);
<<jointVelocitySIN<<freeFlyerVelocitySIN signalRegistration(freeFlyerPositionSIN);
<<jointAccelerationSIN<<freeFlyerAccelerationSIN); signalRegistration(jointVelocitySIN);
signalRegistration( zmpSOUT<<comSOUT<<JcomSOUT<<footHeightSOUT); signalRegistration(freeFlyerVelocitySIN);
signalRegistration(upperJlSOUT<<lowerJlSOUT<<inertiaSOUT signalRegistration(jointAccelerationSIN);
<<inertiaRealSOUT << inertiaRotorSOUT << gearRatioSOUT ); signalRegistration(freeFlyerAccelerationSIN);
signalRegistration( MomentaSOUT << AngularMomentumSOUT << dynamicDriftSOUT); signalRegistration(zmpSOUT);
signalRegistration(comSOUT);
signalRegistration(JcomSOUT);
signalRegistration(footHeightSOUT);
signalRegistration(upperJlSOUT);
signalRegistration(lowerJlSOUT);
signalRegistration(inertiaSOUT);
signalRegistration(inertiaRealSOUT);
signalRegistration(inertiaRotorSOUT);
signalRegistration(gearRatioSOUT);
signalRegistration( MomentaSOUT);
signalRegistration(AngularMomentumSOUT);
signalRegistration(dynamicDriftSOUT);
// //
// Commands // Commands
......
src/force-compensation.cpp
+ 21
− 12
View file @ 62e0b21d
...@@ -99,18 +99,27 @@ ForceCompensationPlugin( const std::string & name ) ...@@ -99,18 +99,27 @@ ForceCompensationPlugin( const std::string & name )
{ {
sotDEBUGIN(5); sotDEBUGIN(5);
signalRegistration( torsorSIN<< worldRhandSIN signalRegistration(torsorSIN);
<< handRsensorSIN << translationSensorComSIN signalRegistration(worldRhandSIN);
<< gravitySIN << precompensationSIN << gainSensorSIN signalRegistration(handRsensorSIN);
<< deadZoneLimitSIN signalRegistration(translationSensorComSIN);
<< transSensorJointSIN << inertiaJointSIN signalRegistration(gravitySIN);
<< velocitySIN << accelerationSIN signalRegistration(precompensationSIN);
signalRegistration(gainSensorSIN);
<< handXworldSOUT << handVsensorSOUT << torsorDeadZoneSIN signalRegistration(deadZoneLimitSIN);
<< sensorXhandSOUT //<< inertiaSensorSOUT signalRegistration(transSensorJointSIN);
<< momentumSOUT << momentumSIN signalRegistration(inertiaJointSIN);
<< torsorCompensatedSOUT << torsorDeadZoneSOUT signalRegistration(velocitySIN );
<< calibrationTrigerSOUT ); signalRegistration(accelerationSIN);
signalRegistration(handXworldSOUT);
signalRegistration(handVsensorSOUT);
signalRegistration(torsorDeadZoneSIN);
signalRegistration(sensorXhandSOUT);
signalRegistration(momentumSOUT);
signalRegistration(momentumSIN);
signalRegistration(torsorCompensatedSOUT);
signalRegistration(torsorDeadZoneSOUT);
signalRegistration(calibrationTrigerSOUT);
torsorDeadZoneSIN.plug(&torsorCompensatedSOUT); torsorDeadZoneSIN.plug(&torsorCompensatedSOUT);
// By default, I choose: momentum is not compensated. // By default, I choose: momentum is not compensated.
......
src/integrator-force.cpp
+ 8
− 4
View file @ 62e0b21d
...@@ -52,10 +52,14 @@ IntegratorForce( const std::string & name ) ...@@ -52,10 +52,14 @@ IntegratorForce( const std::string & name )
{ {
sotDEBUGIN(5); sotDEBUGIN(5);
signalRegistration( forceSIN << massInverseSIN signalRegistration(forceSIN);
<< frictionSIN << velocityPrecSIN signalRegistration(massInverseSIN);
<< velocityDerivativeSOUT << velocitySOUT signalRegistration(frictionSIN);
<< massInverseSOUT << massSIN ); signalRegistration(velocityPrecSIN);
signalRegistration(velocityDerivativeSOUT );
signalRegistration(velocitySOUT );
signalRegistration(massInverseSOUT );
signalRegistration(massSIN );
massInverseSIN.plug( &massInverseSOUT ); massInverseSIN.plug( &massInverseSOUT );
......
src/mass-apparent.cpp
+ 6
− 2
View file @ 62e0b21d
...@@ -46,8 +46,12 @@ MassApparent( const std::string & name ) ...@@ -46,8 +46,12 @@ MassApparent( const std::string & name )
{ {
sotDEBUGIN(5); sotDEBUGIN(5);
signalRegistration( jacobianSIN << inertiaInverseSIN << massInverseSOUT << massSOUT signalRegistration(jacobianSIN);
<< inertiaSIN << inertiaInverseSOUT); signalRegistration(inertiaInverseSIN);
signalRegistration(massInverseSOUT);
signalRegistration(massSOUT);
signalRegistration(inertiaSIN);
signalRegistration(inertiaInverseSOUT);
inertiaInverseSIN.plug( &inertiaInverseSOUT ); inertiaInverseSIN.plug( &inertiaInverseSOUT );
sotDEBUGOUT(5); sotDEBUGOUT(5);
......
src/waist-attitude-from-sensor.cpp
+ 5
− 3
View file @ 62e0b21d
...@@ -41,8 +41,9 @@ WaistAttitudeFromSensor( const std::string & name ) ...@@ -41,8 +41,9 @@ WaistAttitudeFromSensor( const std::string & name )
{ {
sotDEBUGIN(5); sotDEBUGIN(5);
signalRegistration( attitudeSensorSIN<<positionSensorSIN signalRegistration(attitudeSensorSIN);
<<attitudeWaistSOUT ); signalRegistration(positionSensorSIN);
signalRegistration(attitudeWaistSOUT);
sotDEBUGOUT(5); sotDEBUGOUT(5);
} }
...@@ -117,7 +118,8 @@ WaistPoseFromSensorAndContact( const std::string & name ) ...@@ -117,7 +118,8 @@ WaistPoseFromSensorAndContact( const std::string & name )
{ {
sotDEBUGIN(5); sotDEBUGIN(5);
signalRegistration( positionContactSIN<<positionWaistSOUT ); signalRegistration( positionContactSIN);
signalRegistration(positionWaistSOUT );
// Commands // Commands
std::string docstring; std::string docstring;
......
src/zmpreffromcom.cpp
+ 4
− 1
View file @ 62e0b21d
...@@ -44,7 +44,10 @@ ZmprefFromCom( const std::string & name ) ...@@ -44,7 +44,10 @@ ZmprefFromCom( const std::string & name )
{ {
sotDEBUGIN(5); sotDEBUGIN(5);
signalRegistration(waistPositionSIN<<comPositionSIN<<dcomSIN<<zmprefSOUT ); signalRegistration(waistPositionSIN);
signalRegistration(comPositionSIN);
signalRegistration(dcomSIN);
signalRegistration(zmprefSOUT);
sotDEBUGOUT(5); sotDEBUGOUT(5);
} }
......
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