Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | List of all members
testObjectContactTurnaroundDetectorBase Class Reference

Public Member Functions

bool check_all_results ()
 
bool check_detection_time_validity (const double time_thre=1.0)
 
void gen_forces_moments (const std::vector< double > &force_vec, const hrp::Vector3 &force_dir=hrp::Vector3::UnitZ())
 
double gen_forces_moments_for_inverting (const double total_tm, const double start_tm, const double turnaround_tm, const double start_resultant_force, const double turnaround_resultant_force, const hrp::Vector3 &force_dir=hrp::Vector3::UnitZ())
 
double gen_forces_moments_for_saturation (const double total_tm, const double start_tm, const double turnaround_tm, const double start_resultant_force, const double turnaround_resultant_force, const hrp::Vector3 &force_dir=hrp::Vector3::UnitZ())
 
double get_a_coeff_by_index (const double df, const hrp::dvector6 &ccm1, const hrp::Vector3 &fdir)
 
hrp::dvector6 get_ccm1_by_index (size_t idx, bool is_positive=true)
 
void parse_params ()
 
void test0 ()
 
void test1 ()
 
void test2 ()
 
void test3 ()
 
void test4 ()
 
void test5 ()
 
void test6 ()
 
void test7 ()
 
 testObjectContactTurnaroundDetectorBase (const double _dt=0.004)
 

Public Attributes

std::vector< std::string > arg_strs
 

Protected Member Functions

void gen_pattern_and_plot ()
 

Protected Attributes

double detect_time
 
double dt
 
std::vector< std::vector< hrp::Vector3 > > forces_vec
 
std::vector< std::vector< hrp::Vector3 > > hpos_vec
 
std::vector< std::vector< hrp::Vector3 > > moments_vec
 
ObjectContactTurnaroundDetectorBase octd
 
std::vector< double > time_vec
 
double true_turnaround_time
 
bool use_gnuplot
 

Detailed Description

Definition at line 10 of file testObjectContactTurnaroundDetectorBase.cpp.

Constructor & Destructor Documentation

testObjectContactTurnaroundDetectorBase::testObjectContactTurnaroundDetectorBase ( const double  _dt = 0.004)
inline

Definition at line 61 of file testObjectContactTurnaroundDetectorBase.cpp.

Member Function Documentation

bool testObjectContactTurnaroundDetectorBase::check_all_results ( )
inline

Definition at line 237 of file testObjectContactTurnaroundDetectorBase.cpp.

bool testObjectContactTurnaroundDetectorBase::check_detection_time_validity ( const double  time_thre = 1.0)
inline

Definition at line 233 of file testObjectContactTurnaroundDetectorBase.cpp.

void testObjectContactTurnaroundDetectorBase::gen_forces_moments ( const std::vector< double > &  force_vec,
const hrp::Vector3 &  force_dir = hrp::Vector3::UnitZ() 
)
inline

Definition at line 70 of file testObjectContactTurnaroundDetectorBase.cpp.

double testObjectContactTurnaroundDetectorBase::gen_forces_moments_for_inverting ( const double  total_tm,
const double  start_tm,
const double  turnaround_tm,
const double  start_resultant_force,
const double  turnaround_resultant_force,
const hrp::Vector3 &  force_dir = hrp::Vector3::UnitZ() 
)
inline

Definition at line 119 of file testObjectContactTurnaroundDetectorBase.cpp.

double testObjectContactTurnaroundDetectorBase::gen_forces_moments_for_saturation ( const double  total_tm,
const double  start_tm,
const double  turnaround_tm,
const double  start_resultant_force,
const double  turnaround_resultant_force,
const hrp::Vector3 &  force_dir = hrp::Vector3::UnitZ() 
)
inline

Definition at line 98 of file testObjectContactTurnaroundDetectorBase.cpp.

void testObjectContactTurnaroundDetectorBase::gen_pattern_and_plot ( )
inlineprotected

Definition at line 19 of file testObjectContactTurnaroundDetectorBase.cpp.

double testObjectContactTurnaroundDetectorBase::get_a_coeff_by_index ( const double  df,
const hrp::dvector6 &  ccm1,
const hrp::Vector3 &  fdir 
)
inline

Definition at line 87 of file testObjectContactTurnaroundDetectorBase.cpp.

hrp::dvector6 testObjectContactTurnaroundDetectorBase::get_ccm1_by_index ( size_t  idx,
bool  is_positive = true 
)
inline

Definition at line 80 of file testObjectContactTurnaroundDetectorBase.cpp.

void testObjectContactTurnaroundDetectorBase::parse_params ( )
inline

Definition at line 244 of file testObjectContactTurnaroundDetectorBase.cpp.

void testObjectContactTurnaroundDetectorBase::test0 ( )
inline

Definition at line 140 of file testObjectContactTurnaroundDetectorBase.cpp.

void testObjectContactTurnaroundDetectorBase::test1 ( )
inline

Definition at line 148 of file testObjectContactTurnaroundDetectorBase.cpp.

void testObjectContactTurnaroundDetectorBase::test2 ( )
inline

Definition at line 156 of file testObjectContactTurnaroundDetectorBase.cpp.

void testObjectContactTurnaroundDetectorBase::test3 ( )
inline

Definition at line 164 of file testObjectContactTurnaroundDetectorBase.cpp.

void testObjectContactTurnaroundDetectorBase::test4 ( )
inline

Definition at line 172 of file testObjectContactTurnaroundDetectorBase.cpp.

void testObjectContactTurnaroundDetectorBase::test5 ( )
inline

Definition at line 187 of file testObjectContactTurnaroundDetectorBase.cpp.

void testObjectContactTurnaroundDetectorBase::test6 ( )
inline

Definition at line 202 of file testObjectContactTurnaroundDetectorBase.cpp.

void testObjectContactTurnaroundDetectorBase::test7 ( )
inline

Definition at line 217 of file testObjectContactTurnaroundDetectorBase.cpp.

Member Data Documentation

std::vector<std::string> testObjectContactTurnaroundDetectorBase::arg_strs

Definition at line 58 of file testObjectContactTurnaroundDetectorBase.cpp.

double testObjectContactTurnaroundDetectorBase::detect_time
protected

Definition at line 17 of file testObjectContactTurnaroundDetectorBase.cpp.

double testObjectContactTurnaroundDetectorBase::dt
protected

Definition at line 13 of file testObjectContactTurnaroundDetectorBase.cpp.

std::vector<std::vector<hrp::Vector3> > testObjectContactTurnaroundDetectorBase::forces_vec
protected

Definition at line 16 of file testObjectContactTurnaroundDetectorBase.cpp.

std::vector<std::vector<hrp::Vector3> > testObjectContactTurnaroundDetectorBase::hpos_vec
protected

Definition at line 16 of file testObjectContactTurnaroundDetectorBase.cpp.

std::vector<std::vector<hrp::Vector3> > testObjectContactTurnaroundDetectorBase::moments_vec
protected

Definition at line 16 of file testObjectContactTurnaroundDetectorBase.cpp.

ObjectContactTurnaroundDetectorBase testObjectContactTurnaroundDetectorBase::octd
protected

Definition at line 14 of file testObjectContactTurnaroundDetectorBase.cpp.

std::vector<double> testObjectContactTurnaroundDetectorBase::time_vec
protected

Definition at line 18 of file testObjectContactTurnaroundDetectorBase.cpp.

double testObjectContactTurnaroundDetectorBase::true_turnaround_time
protected

Definition at line 17 of file testObjectContactTurnaroundDetectorBase.cpp.

bool testObjectContactTurnaroundDetectorBase::use_gnuplot
protected

Definition at line 15 of file testObjectContactTurnaroundDetectorBase.cpp.

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

hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Thu May 6 2021 02:41:53