62 lines
1.3 KiB
C++
Executable File
62 lines
1.3 KiB
C++
Executable File
#ifndef LOWLEVELCMD_H
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#define LOWLEVELCMD_H
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#include "common/math/mathTypes.h"
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#include "common/math/mathTools.h"
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#include <vector>
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#include <iostream>
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struct LowlevelCmd{
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private:
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size_t _dof = 6;
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public:
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std::vector<double> q;
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std::vector<double> dq;
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std::vector<double> tau;
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std::vector<double> kp;
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std::vector<double> kd;
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LowlevelCmd(){
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#ifndef UNITREE_GRIPPER
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q.resize(_dof);
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dq.resize(_dof);
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tau.resize(_dof);
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kp.resize(_dof);
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kd.resize(_dof);
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#endif
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#ifdef UNITREE_GRIPPER
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q.resize(_dof+1);
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dq.resize(_dof+1);
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tau.resize(_dof+1);
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kp.resize(_dof+1);
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kd.resize(_dof+1);
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#endif
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}
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~LowlevelCmd(){}
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void setZeroDq();
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void setZeroTau();
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void setZeroKp();
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void setZeroKd();
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void setControlGain();
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void setControlGain(std::vector<float> KP, std::vector<float> KW);
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void setQ(std::vector<double> qInput);
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void setQ(VecX qInput);
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void setQd(VecX qDInput);
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void setTau(VecX tauInput);
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void setPassive();
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void setGripperGain();
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void setGripperGain(float KP, float KW);
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void setGripperZeroGain();
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void setGripperQ(double qInput);
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void setGripperQd(double qdInput);
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void setGripperTau(double tauInput);
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Vec6 getQ();
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Vec6 getQd();
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};
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#endif //LOWLEVELCMD_H
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