iCub-main
Classes | Macros | Enumerations
gravityThread.h File Reference
#include <yarp/os/BufferedPort.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/Time.h>
#include <yarp/os/Network.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Stamp.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <iCub/ctrl/adaptWinPolyEstimator.h>
#include <iCub/iDyn/iDyn.h>
#include <iCub/iDyn/iDynBody.h>
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Go to the source code of this file.

Classes

class  gravityCompensatorThread
 

Macros

#define MAX_JN   12
 
#define MAX_FILTER_ORDER   6
 

Enumerations

enum  thread_status_enum {
  STATUS_OK =0,
  STATUS_DISCONNECTED,
  STATUS_OK =0,
  STATUS_DISCONNECTED
}
 
enum  {
  GRAVITY_COMPENSATION_OFF = 0,
  GRAVITY_COMPENSATION_ON = 1
}
 
enum  {
  EXTERNAL_TRQ_OFF = 0,
  EXTERNAL_TRQ_ON = 1
}
 
enum  {
  TORQUE_INTERFACE = 0,
  IMPEDANCE_POSITION = 1,
  IMPEDANCE_VELOCITY = 2
}
 

Macro Definition Documentation

◆ MAX_FILTER_ORDER

#define MAX_FILTER_ORDER   6

Definition at line 42 of file gravityThread.h.

◆ MAX_JN

#define MAX_JN   12

Definition at line 41 of file gravityThread.h.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum
Enumerator
GRAVITY_COMPENSATION_OFF 
GRAVITY_COMPENSATION_ON 

Definition at line 44 of file gravityThread.h.

◆ anonymous enum

anonymous enum
Enumerator
EXTERNAL_TRQ_OFF 
EXTERNAL_TRQ_ON 

Definition at line 45 of file gravityThread.h.

◆ anonymous enum

anonymous enum
Enumerator
TORQUE_INTERFACE 
IMPEDANCE_POSITION 
IMPEDANCE_VELOCITY 

Definition at line 46 of file gravityThread.h.

◆ thread_status_enum

Enumerator
STATUS_OK 
STATUS_DISCONNECTED 
STATUS_OK 
STATUS_DISCONNECTED 

Definition at line 43 of file gravityThread.h.