allegro_common.h File Reference

#include <map>
#include <string>
#include <vector>
#include "drake/common/drake_copyable.h"
#include "drake/common/eigen_types.h"
#include "drake/lcmt_allegro_status.hpp"
#include "drake/multibody/plant/multibody_plant.h"

Include dependency graph for allegro_common.h:

This graph shows which files directly or indirectly include this file:

Classes
class	AllegroHandMotionState
	Detecting the state of the fingers: whether the joints are moving, or reached the destination, or got stuck by external collisions in the midway. More...

Namespaces
	drake
	drake::examples
	drake::examples::allegro_hand

Functions
void	SetPositionControlledGains (double pid_frequency, double Ieff, Eigen::VectorXd *Kp, Eigen::VectorXd *Ki, Eigen::VectorXd *Kd)
	Set the feedback gains for the simulated position control. More...
void	GetControlPortMapping (const multibody::MultibodyPlant< double > &plant, MatrixX< double > *Sx, MatrixX< double > *Sy)
	Creates selector matrices which extract state xₛ in a known order from the plant's full x (xₛ = Sx⋅x) and promote the controller's ordered yₛ into the full plant's input actuation (u = Su⋅uₛ). More...
std::vector< std::string >	GetPreferredJointOrdering ()
	Defines the desired ordering of the finger joints by name. More...

Variables
constexpr int	kAllegroNumJoints = 16