#include <ObjectTurnaroundDetector.h>

Public Types
enum	detector_total_wrench { TOTAL_FORCE, TOTAL_MOMENT }

enum	process_mode { MODE_IDLE, MODE_STARTED, MODE_DETECTED, MODE_MAX_TIME }

Public Member Functions
double	calcTotalForce (const std::vector< hrp::Vector3 > &fmv)

double	calcTotalMoment (const std::vector< hrp::Vector3 > &fmv, const std::vector< hrp::Vector3 > &hposv)

bool	checkDetection (const std::vector< hrp::Vector3 > &fmv, const std::vector< hrp::Vector3 > &hposv)

bool	checkDetection (const double wrench_value)

hrp::Vector3	getAxis () const

detector_total_wrench	getDetectorTotalWrench () const

double	getDetectRatioThre () const

double	getDetectTimeThre () const

double	getDwrenchCutoffFreq () const

double	getFilteredDwrench () const

double	getFilteredWrench () const

process_mode	getMode () const

hrp::Vector3	getMomentCenter () const

double	getRawWrench () const

double	getStartRatioThre () const

double	getStartTimeThre () const

double	getWrenchCutoffFreq () const

bool	isDetected () const

	ObjectTurnaroundDetector (const double _dt)

void	printParams () const

void	setAxis (const hrp::Vector3 &a)

void	setDetectorTotalWrench (const detector_total_wrench _dtw)

void	setDetectRatioThre (const double a)

void	setDetectTimeThre (const double a)

void	setDwrenchCutoffFreq (const double a)

void	setMomentCenter (const hrp::Vector3 &a)

void	setPrintStr (const std::string &str)

void	setStartRatioThre (const double a)

void	setStartTimeThre (const double a)

void	setWrenchCutoffFreq (const double a)

void	startDetection (const double _ref_diff_wrench, const double _max_time)

	~ObjectTurnaroundDetector ()

Private Attributes
hrp::Vector3	axis

size_t	count

double	current_time

double	current_wrench

size_t	detect_count_thre

double	detect_ratio_thre

double	dt

detector_total_wrench	dtw

boost::shared_ptr< FirstOrderLowPassFilter< double > >	dwrench_filter

bool	is_dwr_changed

double	max_time

hrp::Vector3	moment_center

process_mode	pmode

double	prev_wrench

std::string	print_str

double	ref_dwrench

size_t	start_count_thre

double	start_ratio_thre

boost::shared_ptr< FirstOrderLowPassFilter< double > >	wrench_filter

Detailed Description

Definition at line 11 of file ObjectTurnaroundDetector.h.

Member Enumeration Documentation

enum ObjectTurnaroundDetector::detector_total_wrench

Enumerator
TOTAL_FORCE
TOTAL_MOMENT

Definition at line 15 of file ObjectTurnaroundDetector.h.

enum ObjectTurnaroundDetector::process_mode

Enumerator
MODE_IDLE
MODE_STARTED
MODE_DETECTED
MODE_MAX_TIME

Definition at line 14 of file ObjectTurnaroundDetector.h.

Constructor & Destructor Documentation

ObjectTurnaroundDetector::ObjectTurnaroundDetector ( const double _dt )

inline

Definition at line 32 of file ObjectTurnaroundDetector.h.

ObjectTurnaroundDetector::~ObjectTurnaroundDetector ( )

inline

Definition at line 39 of file ObjectTurnaroundDetector.h.

Member Function Documentation

double ObjectTurnaroundDetector::calcTotalForce ( const std::vector< hrp::Vector3 > & fmv )

inline

Definition at line 50 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::calcTotalMoment	(	const std::vector< hrp::Vector3 > &	fmv,
		const std::vector< hrp::Vector3 > &	hposv
	)

inline

Definition at line 58 of file ObjectTurnaroundDetector.h.

bool ObjectTurnaroundDetector::checkDetection	(	const std::vector< hrp::Vector3 > &	fmv,
		const std::vector< hrp::Vector3 > &	hposv
	)

inline

Definition at line 66 of file ObjectTurnaroundDetector.h.

bool ObjectTurnaroundDetector::checkDetection ( const double wrench_value )

inline

Definition at line 79 of file ObjectTurnaroundDetector.h.

hrp::Vector3 ObjectTurnaroundDetector::getAxis ( ) const

inline

Definition at line 162 of file ObjectTurnaroundDetector.h.

detector_total_wrench ObjectTurnaroundDetector::getDetectorTotalWrench ( ) const

inline

Definition at line 164 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getDetectRatioThre ( ) const

inline

Definition at line 158 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getDetectTimeThre ( ) const

inline

Definition at line 160 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getDwrenchCutoffFreq ( ) const

inline

Definition at line 157 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getFilteredDwrench ( ) const

inline

Definition at line 166 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getFilteredWrench ( ) const

inline

Definition at line 165 of file ObjectTurnaroundDetector.h.

process_mode ObjectTurnaroundDetector::getMode ( ) const

inline

Definition at line 130 of file ObjectTurnaroundDetector.h.

hrp::Vector3 ObjectTurnaroundDetector::getMomentCenter ( ) const

inline

Definition at line 163 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getRawWrench ( ) const

inline

Definition at line 167 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getStartRatioThre ( ) const

inline

Definition at line 159 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getStartTimeThre ( ) const

inline

Definition at line 161 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getWrenchCutoffFreq ( ) const

inline

Definition at line 156 of file ObjectTurnaroundDetector.h.

bool ObjectTurnaroundDetector::isDetected ( ) const

inline

Definition at line 129 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::printParams ( ) const

inline

Definition at line 131 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setAxis ( const hrp::Vector3 & a )

inline

Definition at line 147 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setDetectorTotalWrench ( const detector_total_wrench _dtw )

inline

Definition at line 149 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setDetectRatioThre ( const double a )

inline

Definition at line 143 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setDetectTimeThre ( const double a )

inline

Definition at line 145 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setDwrenchCutoffFreq ( const double a )

inline

Definition at line 142 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setMomentCenter ( const hrp::Vector3 & a )

inline

Definition at line 148 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setPrintStr ( const std::string & str )

inline

Definition at line 140 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setStartRatioThre ( const double a )

inline

Definition at line 144 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setStartTimeThre ( const double a )

inline

Definition at line 146 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setWrenchCutoffFreq ( const double a )

inline

Definition at line 141 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::startDetection	(	const double	_ref_diff_wrench,
		const double	_max_time
	)

inline

Definition at line 40 of file ObjectTurnaroundDetector.h.

Member Data Documentation

hrp::Vector3 ObjectTurnaroundDetector::axis

private

Definition at line 19 of file ObjectTurnaroundDetector.h.

size_t ObjectTurnaroundDetector::count

private

Definition at line 22 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::current_time

private

Definition at line 21 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::current_wrench

private

Definition at line 21 of file ObjectTurnaroundDetector.h.

size_t ObjectTurnaroundDetector::detect_count_thre

private

Definition at line 26 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::detect_ratio_thre

private

Definition at line 21 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::dt

private

Definition at line 20 of file ObjectTurnaroundDetector.h.

detector_total_wrench ObjectTurnaroundDetector::dtw

private

Definition at line 28 of file ObjectTurnaroundDetector.h.

boost::shared_ptr<FirstOrderLowPassFilter<double> > ObjectTurnaroundDetector::dwrench_filter

private

Definition at line 18 of file ObjectTurnaroundDetector.h.

bool ObjectTurnaroundDetector::is_dwr_changed

private

Definition at line 30 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::max_time

private

Definition at line 21 of file ObjectTurnaroundDetector.h.

hrp::Vector3 ObjectTurnaroundDetector::moment_center

private

Definition at line 19 of file ObjectTurnaroundDetector.h.

process_mode ObjectTurnaroundDetector::pmode

private

Definition at line 27 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::prev_wrench

private

Definition at line 20 of file ObjectTurnaroundDetector.h.

std::string ObjectTurnaroundDetector::print_str

private

Definition at line 29 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::ref_dwrench

private

Definition at line 21 of file ObjectTurnaroundDetector.h.

size_t ObjectTurnaroundDetector::start_count_thre

private

Definition at line 26 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::start_ratio_thre

private

Definition at line 21 of file ObjectTurnaroundDetector.h.

boost::shared_ptr<FirstOrderLowPassFilter<double> > ObjectTurnaroundDetector::wrench_filter

private

Definition at line 17 of file ObjectTurnaroundDetector.h.

The documentation for this class was generated from the following file:

ObjectTurnaroundDetector.h

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation