Public Types | Public Member Functions | Private Attributes | List of all members
ObjectTurnaroundDetector Class Reference

#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

◆ detector_total_wrench

enum ObjectTurnaroundDetector::detector_total_wrench
Enumerator
TOTAL_FORCE 
TOTAL_MOMENT 

Definition at line 15 of file ObjectTurnaroundDetector.h.

◆ process_mode

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::ObjectTurnaroundDetector ( const double  _dt)
inline

Definition at line 32 of file ObjectTurnaroundDetector.h.

◆ ~ObjectTurnaroundDetector()

ObjectTurnaroundDetector::~ObjectTurnaroundDetector ( )
inline

Definition at line 39 of file ObjectTurnaroundDetector.h.

Member Function Documentation

◆ calcTotalForce()

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

Definition at line 50 of file ObjectTurnaroundDetector.h.

◆ calcTotalMoment()

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

Definition at line 58 of file ObjectTurnaroundDetector.h.

◆ checkDetection() [1/2]

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

Definition at line 66 of file ObjectTurnaroundDetector.h.

◆ checkDetection() [2/2]

bool ObjectTurnaroundDetector::checkDetection ( const double  wrench_value)
inline

Definition at line 79 of file ObjectTurnaroundDetector.h.

◆ getAxis()

hrp::Vector3 ObjectTurnaroundDetector::getAxis ( ) const
inline

Definition at line 162 of file ObjectTurnaroundDetector.h.

◆ getDetectorTotalWrench()

detector_total_wrench ObjectTurnaroundDetector::getDetectorTotalWrench ( ) const
inline

Definition at line 164 of file ObjectTurnaroundDetector.h.

◆ getDetectRatioThre()

double ObjectTurnaroundDetector::getDetectRatioThre ( ) const
inline

Definition at line 158 of file ObjectTurnaroundDetector.h.

◆ getDetectTimeThre()

double ObjectTurnaroundDetector::getDetectTimeThre ( ) const
inline

Definition at line 160 of file ObjectTurnaroundDetector.h.

◆ getDwrenchCutoffFreq()

double ObjectTurnaroundDetector::getDwrenchCutoffFreq ( ) const
inline

Definition at line 157 of file ObjectTurnaroundDetector.h.

◆ getFilteredDwrench()

double ObjectTurnaroundDetector::getFilteredDwrench ( ) const
inline

Definition at line 166 of file ObjectTurnaroundDetector.h.

◆ getFilteredWrench()

double ObjectTurnaroundDetector::getFilteredWrench ( ) const
inline

Definition at line 165 of file ObjectTurnaroundDetector.h.

◆ getMode()

process_mode ObjectTurnaroundDetector::getMode ( ) const
inline

Definition at line 130 of file ObjectTurnaroundDetector.h.

◆ getMomentCenter()

hrp::Vector3 ObjectTurnaroundDetector::getMomentCenter ( ) const
inline

Definition at line 163 of file ObjectTurnaroundDetector.h.

◆ getRawWrench()

double ObjectTurnaroundDetector::getRawWrench ( ) const
inline

Definition at line 167 of file ObjectTurnaroundDetector.h.

◆ getStartRatioThre()

double ObjectTurnaroundDetector::getStartRatioThre ( ) const
inline

Definition at line 159 of file ObjectTurnaroundDetector.h.

◆ getStartTimeThre()

double ObjectTurnaroundDetector::getStartTimeThre ( ) const
inline

Definition at line 161 of file ObjectTurnaroundDetector.h.

◆ getWrenchCutoffFreq()

double ObjectTurnaroundDetector::getWrenchCutoffFreq ( ) const
inline

Definition at line 156 of file ObjectTurnaroundDetector.h.

◆ isDetected()

bool ObjectTurnaroundDetector::isDetected ( ) const
inline

Definition at line 129 of file ObjectTurnaroundDetector.h.

◆ printParams()

void ObjectTurnaroundDetector::printParams ( ) const
inline

Definition at line 131 of file ObjectTurnaroundDetector.h.

◆ setAxis()

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

Definition at line 147 of file ObjectTurnaroundDetector.h.

◆ setDetectorTotalWrench()

void ObjectTurnaroundDetector::setDetectorTotalWrench ( const detector_total_wrench  _dtw)
inline

Definition at line 149 of file ObjectTurnaroundDetector.h.

◆ setDetectRatioThre()

void ObjectTurnaroundDetector::setDetectRatioThre ( const double  a)
inline

Definition at line 143 of file ObjectTurnaroundDetector.h.

◆ setDetectTimeThre()

void ObjectTurnaroundDetector::setDetectTimeThre ( const double  a)
inline

Definition at line 145 of file ObjectTurnaroundDetector.h.

◆ setDwrenchCutoffFreq()

void ObjectTurnaroundDetector::setDwrenchCutoffFreq ( const double  a)
inline

Definition at line 142 of file ObjectTurnaroundDetector.h.

◆ setMomentCenter()

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

Definition at line 148 of file ObjectTurnaroundDetector.h.

◆ setPrintStr()

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

Definition at line 140 of file ObjectTurnaroundDetector.h.

◆ setStartRatioThre()

void ObjectTurnaroundDetector::setStartRatioThre ( const double  a)
inline

Definition at line 144 of file ObjectTurnaroundDetector.h.

◆ setStartTimeThre()

void ObjectTurnaroundDetector::setStartTimeThre ( const double  a)
inline

Definition at line 146 of file ObjectTurnaroundDetector.h.

◆ setWrenchCutoffFreq()

void ObjectTurnaroundDetector::setWrenchCutoffFreq ( const double  a)
inline

Definition at line 141 of file ObjectTurnaroundDetector.h.

◆ startDetection()

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

Definition at line 40 of file ObjectTurnaroundDetector.h.

Member Data Documentation

◆ axis

hrp::Vector3 ObjectTurnaroundDetector::axis
private

Definition at line 19 of file ObjectTurnaroundDetector.h.

◆ count

size_t ObjectTurnaroundDetector::count
private

Definition at line 22 of file ObjectTurnaroundDetector.h.

◆ current_time

double ObjectTurnaroundDetector::current_time
private

Definition at line 21 of file ObjectTurnaroundDetector.h.

◆ current_wrench

double ObjectTurnaroundDetector::current_wrench
private

Definition at line 21 of file ObjectTurnaroundDetector.h.

◆ detect_count_thre

size_t ObjectTurnaroundDetector::detect_count_thre
private

Definition at line 26 of file ObjectTurnaroundDetector.h.

◆ detect_ratio_thre

double ObjectTurnaroundDetector::detect_ratio_thre
private

Definition at line 21 of file ObjectTurnaroundDetector.h.

◆ dt

double ObjectTurnaroundDetector::dt
private

Definition at line 20 of file ObjectTurnaroundDetector.h.

◆ dtw

detector_total_wrench ObjectTurnaroundDetector::dtw
private

Definition at line 28 of file ObjectTurnaroundDetector.h.

◆ dwrench_filter

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

Definition at line 18 of file ObjectTurnaroundDetector.h.

◆ is_dwr_changed

bool ObjectTurnaroundDetector::is_dwr_changed
private

Definition at line 30 of file ObjectTurnaroundDetector.h.

◆ max_time

double ObjectTurnaroundDetector::max_time
private

Definition at line 21 of file ObjectTurnaroundDetector.h.

◆ moment_center

hrp::Vector3 ObjectTurnaroundDetector::moment_center
private

Definition at line 19 of file ObjectTurnaroundDetector.h.

◆ pmode

process_mode ObjectTurnaroundDetector::pmode
private

Definition at line 27 of file ObjectTurnaroundDetector.h.

◆ prev_wrench

double ObjectTurnaroundDetector::prev_wrench
private

Definition at line 20 of file ObjectTurnaroundDetector.h.

◆ print_str

std::string ObjectTurnaroundDetector::print_str
private

Definition at line 29 of file ObjectTurnaroundDetector.h.

◆ ref_dwrench

double ObjectTurnaroundDetector::ref_dwrench
private

Definition at line 21 of file ObjectTurnaroundDetector.h.

◆ start_count_thre

size_t ObjectTurnaroundDetector::start_count_thre
private

Definition at line 26 of file ObjectTurnaroundDetector.h.

◆ start_ratio_thre

double ObjectTurnaroundDetector::start_ratio_thre
private

Definition at line 21 of file ObjectTurnaroundDetector.h.

◆ wrench_filter

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:

hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:22