#include <ObjectContactTurnaroundDetector.h>

Inheritance diagram for ObjectContactTurnaroundDetector:

Classes
struct	ee_trans
Public Member Functions
OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode	checkObjectContactTurnaroundDetection ()
bool	checkObjectContactTurnaroundDetectionForGeneralizedWrench (OpenHRP::ObjectContactTurnaroundDetectorService::DetectorModeSequence_out o_dms)
bool	getObjectContactTurnaroundDetectorParam (OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam &i_param_)
bool	getObjectForcesMoments (OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out o_forces, OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out o_moments, OpenHRP::ObjectContactTurnaroundDetectorService::DblSequence3_out o_3dofwrench, double &o_fric_coeff_wrench)
bool	getObjectGeneralizedConstraintWrenches (OpenHRP::ObjectContactTurnaroundDetectorService::objectGeneralizedConstraintWrenchesParam &o_param)
	ObjectContactTurnaroundDetector (RTC::Manager *manager)
virtual RTC::ReturnCode_t	onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onDeactivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onFinalize ()
virtual RTC::ReturnCode_t	onInitialize ()
bool	setObjectContactTurnaroundDetectorParam (const OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam &i_param_)
void	startObjectContactTurnaroundDetection (const double i_ref_diff_wrench, const double i_max_time, const OpenHRP::ObjectContactTurnaroundDetectorService::StrSequence &i_ee_names)
bool	startObjectContactTurnaroundDetectionForGeneralizedWrench ()
virtual	~ObjectContactTurnaroundDetector ()
Protected Attributes
TimedBooleanSeq	m_contactStates
InPort< TimedBooleanSeq >	m_contactStatesIn
std::vector< TimedDoubleSeq >	m_force
std::vector< InPort < TimedDoubleSeq > * >	m_forceIn
RTC::CorbaPort	m_ObjectContactTurnaroundDetectorServicePort
TimedDoubleSeq	m_octdData
OutPort< TimedDoubleSeq >	m_octdDataOut
TimedDoubleSeq	m_qCurrent
InPort< TimedDoubleSeq >	m_qCurrentIn
TimedOrientation3D	m_rpy
InPort< TimedOrientation3D >	m_rpyIn
ObjectContactTurnaroundDetectorService_impl	m_service0
Private Member Functions
void	calcFootMidCoords (hrp::Vector3 &new_foot_mid_pos, hrp::Matrix33 &new_foot_mid_rot)
void	calcFootOriginCoords (hrp::Vector3 &foot_origin_pos, hrp::Matrix33 &foot_origin_rot)
void	calcObjectContactTurnaroundDetectorState ()
OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode	checkObjectContactTurnaroundDetectionCommon (const size_t index)
std::string	getEENameFromSensorName (const std::string &sensor_name)
void	updateRootLinkPosRot (TimedOrientation3D tmprpy)
Private Attributes
int	dummy
std::map< std::string, ee_trans >	ee_map
int	loop
unsigned int	m_debugLevel
double	m_dt
coil::Mutex	m_mutex
hrp::BodyPtr	m_robot
boost::shared_ptr < ObjectContactTurnaroundDetectorBase >	octd
hrp::Vector3	octd_axis
std::vector< std::string >	octd_sensor_names

Detailed Description

Definition at line 38 of file ObjectContactTurnaroundDetector.h.

Constructor & Destructor Documentation

ObjectContactTurnaroundDetector::ObjectContactTurnaroundDetector ( RTC::Manager * manager )

Definition at line 41 of file ObjectContactTurnaroundDetector.cpp.

ObjectContactTurnaroundDetector::~ObjectContactTurnaroundDetector ( ) [virtual]

Definition at line 57 of file ObjectContactTurnaroundDetector.cpp.

Member Function Documentation

void ObjectContactTurnaroundDetector::calcFootMidCoords	(	hrp::Vector3 &	new_foot_mid_pos,
		hrp::Matrix33 &	new_foot_mid_rot
	)		`[private]`

Definition at line 322 of file ObjectContactTurnaroundDetector.cpp.

void ObjectContactTurnaroundDetector::calcFootOriginCoords	(	hrp::Vector3 &	foot_origin_pos,
		hrp::Matrix33 &	foot_origin_rot
	)		`[private]`

Definition at line 336 of file ObjectContactTurnaroundDetector.cpp.

void ObjectContactTurnaroundDetector::calcObjectContactTurnaroundDetectorState ( ) [private]

Definition at line 369 of file ObjectContactTurnaroundDetector.cpp.

OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode ObjectContactTurnaroundDetector::checkObjectContactTurnaroundDetection ( )

Definition at line 478 of file ObjectContactTurnaroundDetector.cpp.

OpenHRP::ObjectContactTurnaroundDetectorService::DetectorMode ObjectContactTurnaroundDetector::checkObjectContactTurnaroundDetectionCommon ( const size_t index ) [private]

Definition at line 452 of file ObjectContactTurnaroundDetector.cpp.

bool ObjectContactTurnaroundDetector::checkObjectContactTurnaroundDetectionForGeneralizedWrench ( OpenHRP::ObjectContactTurnaroundDetectorService::DetectorModeSequence_out o_dms )

Definition at line 484 of file ObjectContactTurnaroundDetector.cpp.

std::string ObjectContactTurnaroundDetector::getEENameFromSensorName ( const std::string & sensor_name ) [inline, private]

Definition at line 159 of file ObjectContactTurnaroundDetector.h.

bool ObjectContactTurnaroundDetector::getObjectContactTurnaroundDetectorParam ( OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam & i_param_ )

Definition at line 568 of file ObjectContactTurnaroundDetector.cpp.

bool ObjectContactTurnaroundDetector::getObjectForcesMoments	(	OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out	o_forces,
		OpenHRP::ObjectContactTurnaroundDetectorService::Dbl3Sequence_out	o_moments,
		OpenHRP::ObjectContactTurnaroundDetectorService::DblSequence3_out	o_3dofwrench,
		double &	o_fric_coeff_wrench
	)

Definition at line 628 of file ObjectContactTurnaroundDetector.cpp.

bool ObjectContactTurnaroundDetector::getObjectGeneralizedConstraintWrenches ( OpenHRP::ObjectContactTurnaroundDetectorService::objectGeneralizedConstraintWrenchesParam & o_param )

Definition at line 653 of file ObjectContactTurnaroundDetector.cpp.

RTC::ReturnCode_t ObjectContactTurnaroundDetector::onActivated ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 239 of file ObjectContactTurnaroundDetector.cpp.

RTC::ReturnCode_t ObjectContactTurnaroundDetector::onDeactivated ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 245 of file ObjectContactTurnaroundDetector.cpp.

RTC::ReturnCode_t ObjectContactTurnaroundDetector::onExecute ( RTC::UniqueId ec_id ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 252 of file ObjectContactTurnaroundDetector.cpp.

RTC::ReturnCode_t ObjectContactTurnaroundDetector::onFinalize ( void ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 220 of file ObjectContactTurnaroundDetector.cpp.

RTC::ReturnCode_t ObjectContactTurnaroundDetector::onInitialize ( void ) [virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 62 of file ObjectContactTurnaroundDetector.cpp.

bool ObjectContactTurnaroundDetector::setObjectContactTurnaroundDetectorParam ( const OpenHRP::ObjectContactTurnaroundDetectorService::objectContactTurnaroundDetectorParam & i_param_ )

Definition at line 494 of file ObjectContactTurnaroundDetector.cpp.

void ObjectContactTurnaroundDetector::startObjectContactTurnaroundDetection	(	const double	i_ref_diff_wrench,
		const double	i_max_time,
		const OpenHRP::ObjectContactTurnaroundDetectorService::StrSequence &	i_ee_names
	)