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27f4e239

Commit 27f4e239 authored 5 years ago by Mirko Wächter

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added inverse dynamics to EtherCAT RT Control Thread

parent 6e4d6e38

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1 merge request!47WIP: Inverse Dynamics calculation in RT Unit

Changes 6

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source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h 14 additions, 1 deletion

...ts/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h
source/RobotAPI/libraries/ArmarXEtherCAT/CMakeLists.txt 2 additions, 0 deletions

source/RobotAPI/libraries/ArmarXEtherCAT/CMakeLists.txt
source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp 29 additions, 19 deletions

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.h 6 additions, 2 deletions

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.h
source/RobotAPI/libraries/ArmarXEtherCAT/util/DynamicsHelper.cpp 93 additions, 0 deletions

...RobotAPI/libraries/ArmarXEtherCAT/util/DynamicsHelper.cpp
source/RobotAPI/libraries/ArmarXEtherCAT/util/DynamicsHelper.h 60 additions, 0 deletions

...e/RobotAPI/libraries/ArmarXEtherCAT/util/DynamicsHelper.h

with 204 additions and 22 deletions

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