WB-Toolbox
6.0.1
A Simulink Toolbox for Whole Body Control
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#include "WBToolbox/Block/SetReferences.h"
#include "WBToolbox/Base/Configuration.h"
#include "WBToolbox/Base/RobotInterface.h"
#include <BlockFactory/Core/BlockInformation.h>
#include <BlockFactory/Core/Log.h>
#include <BlockFactory/Core/Parameter.h>
#include <BlockFactory/Core/Parameters.h>
#include <BlockFactory/Core/Signal.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/IControlMode.h>
#include <yarp/dev/ICurrentControl.h>
#include <yarp/dev/IPWMControl.h>
#include <yarp/dev/IPositionControl.h>
#include <yarp/dev/IPositionDirect.h>
#include <yarp/dev/ITorqueControl.h>
#include <yarp/dev/IVelocityControl.h>
#include <cmath>
#include <ostream>
#include <tuple>
#include <vector>
Classes | |
class | wbt::block::SetReferences::impl |
Enumerations | |
enum | ParamIndex { Bias = Block::NumberOfParameters - 1 , WBStruct , ConfBlockName , Bias = Block::NumberOfParameters - 1 , FilterStruct , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , Frame , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , Frame , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , LimitType , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , MeasType , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , Frame , Bias = Block::NumberOfParameters - 1 , SampleTime , SettlingTime , FirstDerivative , SecondDerivative , ReadInitialValue , ExtSettlingTime , ResetOnChange , Bias = Block::NumberOfParameters - 1 , UseLbA , UseUbA , UseLb , UseUb , ComputeObjVal , StopWhenFails , AdaptiveRho , Polish , MaxIterations , Bias = Block::NumberOfParameters - 1 , UseLbA , UseUbA , UseLb , UseUb , ComputeObjVal , StopWhenFails , Bias = Block::NumberOfParameters - 1 , Period , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , RefFrame , Frame , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , Frame1 , Frame2 , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , SetP , SetI , SetD , PidCtrlType , SetKTau , KTau , SetBemf , Bemf , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , CtrlType , TrajRef , Bias = Block::NumberOfParameters - 1 , Period , GzClkPort , RpcPort , Bias = Block::NumberOfParameters - 1 , PortName , PortSize , WaitData , ReadTimestamp , Autoconnect , ErrMissingPort , Timeout , Bias = Block::NumberOfParameters - 1 , PortName , Autoconnect , ErrMissingPort } |
enum | InputIndex { BasePose = 0 , JointConfiguration , BaseVelocity , JointVelocity , BasePose = 0 , JointConfiguration , InputSignal = 0 , BasePose = 0 , JointConfiguration , BaseVelocity , JointVelocity , BasePose = 0 , JointConfiguration , BasePose = 0 , JointConfiguration , BaseVelocity , JointVelocity , BaseAcceleration , JointAcceleration , BasePose = 0 , JointConfiguration , BasePose = 0 , JointConfiguration , InputSignal = 0 , Hessian = 0 , Gradient , Hessian = 0 , Gradient , JointConfiguration = 0 , JointConfiguration = 0 , References = 0 , Signal = 0 } |
enum InputIndex |
enum ParamIndex |