Drake
drake::examples::qp_inverse_dynamics Namespace Reference

Classes

class  AtlasJointLevelControllerSystem
 A class that extends JointLevelControllerBaseSystem to output an additional bot_core::atlas_command_t. More...
 
class  BodyOfInterest
 An object that holds important kinematic properties. More...
 
class  GenericPlan
 This class represents a plan interpretor, which conceptually serves as a bridge between a high level planner (e.g. More...
 
class  GenericPlanTest
 
class  HumanoidManipulationPlan
 A baseline manipulation plan interpretor for a humanoid robot. More...
 
class  HumanoidPlanEvalSystem
 This class extends PlanEvalBaseSystem to interpret plans for humanoid robots. More...
 
class  HumanoidStatus
 Mostly a thin wrapper on RigidBodyTree. More...
 
class  HumanoidStatusTranslatorSystem
 An abstract base class for systems that translate various types of state into HumanoidStatus. More...
 
class  JointLevelControllerBaseSystem
 An abstract base class that translates a QpOutput to a vector of torque commands in the actuator order within the RigidBodyTree. More...
 
class  ManipulatorInverseDynamicsController
 This class implements an example of a general purpose controller for a fixed based manipulator based on qp inverse dynamics. More...
 
class  ManipulatorMoveEndEffectorPlan
 A concrete plan that sets up a Cartesian tracking objective for the end effector assuming no contacts. More...
 
class  ManipulatorPlanEvalSystem
 This class extends PlanEvalBaseSystem. More...
 
class  PlanEvalBaseSystem
 A base class that outputs QpInput for the qp inverse dynamics controller. More...
 
class  RobotStateMsgToHumanoidStatusSystem
 Translates a bot_core::robot_state_t message to HumanoidStatus. More...
 
class  StateToHumanoidStatusSystem
 Translates a state vector to HumanoidStatus. More...
 
class  TrivialJointLevelControllerSystem
 Translates a QpOutput to a vector of torque commands in the actuator order within the RigidBodyTree. More...
 
class  ValkyrieController
 A controller for humanoid balancing built on top of HumanoidPlanEvalSystem and QpInverseDynamicsSystemSystem. More...
 

Typedefs

typedef std::unordered_set< const RigidBody< double > * > ContactState
 ContactState is intended to represent a set of bodies that are in contact. More...
 

Functions

std::ostream & operator<< (std::ostream &out, const HumanoidStatus &robot_status)
 
 TEST_F (DummyPlanTest, TestInitialize)
 
 TEST_F (DummyPlanTest, TestClone)
 
 TEST_F (DummyPlanTest, TestUpdateQpInput)
 
 TEST_F (DummyPlanTest, TestIncompatbileAndThrow)
 
 TEST_F (ManipPlanTest, MoveEndEffectorInitializeTest)
 
 TEST_F (ManipPlanTest, TestUpdateQpInput)
 
 TEST_F (ManipPlanTest, MoveEndEffectorHandleMessageTest)
 
 TEST_F (ManipPlanTest, TestClone)
 
 TEST_F (JointLevelControllerTest, TrivialJointLevelControllerSystemTest)
 
 TEST_F (JointLevelControllerTest, AtlasJointLevelControllerTest)
 
void controller_loop ()
 

Variables

constexpr double kSmallTolerance = 1e-12
 

Typedef Documentation

typedef std::unordered_set<const RigidBody<double>*> ContactState

ContactState is intended to represent a set of bodies that are in contact.

Detailed information such as contact points, contact wrench are not included here.

Function Documentation

void drake::examples::qp_inverse_dynamics::controller_loop ( )

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std::ostream & operator<< ( std::ostream &  out,
const HumanoidStatus robot_status 
)

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drake::examples::qp_inverse_dynamics::TEST_F ( JointLevelControllerTest  ,
TrivialJointLevelControllerSystemTest   
)

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drake::examples::qp_inverse_dynamics::TEST_F ( ManipPlanTest  ,
MoveEndEffectorInitializeTest   
)

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drake::examples::qp_inverse_dynamics::TEST_F ( JointLevelControllerTest  ,
AtlasJointLevelControllerTest   
)

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drake::examples::qp_inverse_dynamics::TEST_F ( DummyPlanTest  ,
TestInitialize   
)

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drake::examples::qp_inverse_dynamics::TEST_F ( ManipPlanTest  ,
TestUpdateQpInput   
)

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drake::examples::qp_inverse_dynamics::TEST_F ( DummyPlanTest  ,
TestClone   
)
drake::examples::qp_inverse_dynamics::TEST_F ( DummyPlanTest  ,
TestUpdateQpInput   
)

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drake::examples::qp_inverse_dynamics::TEST_F ( ManipPlanTest  ,
MoveEndEffectorHandleMessageTest   
)

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drake::examples::qp_inverse_dynamics::TEST_F ( DummyPlanTest  ,
TestIncompatbileAndThrow   
)
drake::examples::qp_inverse_dynamics::TEST_F ( ManipPlanTest  ,
TestClone   
)

Variable Documentation

constexpr double kSmallTolerance = 1e-12