#include <ObjectContactTurnaroundDetectorBase.h>

Public Types
enum	detector_total_wrench { TOTAL_FORCE, TOTAL_MOMENT, TOTAL_MOMENT2, GENERALIZED_WRENCH }
enum	process_mode { MODE_IDLE, MODE_STARTED, MODE_DETECTED, MODE_MAX_TIME, MODE_OTHER_DETECTED }
Public Member Functions
void	calcPhiValueFromConstraintConversionMatrix (std::vector< double > &phi, const std::vector< hrp::dvector6 > &ccm, const hrp::dvector6 &res_wrench)
void	calcTotalForceMoment (hrp::Vector3 &total_force, hrp::Vector3 &total_moment1, hrp::Vector3 &total_moment2, const std::vector< hrp::Vector3 > &forces, const std::vector< hrp::Vector3 > &moments, const std::vector< hrp::Vector3 > &hposv)
bool	checkDetection (const std::vector< hrp::Vector3 > &forces, const std::vector< hrp::Vector3 > &moments, const std::vector< hrp::Vector3 > &hposv)
bool	checkDetection (const double raw_wrench_value, const double raw_friction_coeff_wrench_value)
bool	checkDetection (const hrp::dvector6 &raw_resultant_wrench_value)
hrp::Vector3	getAxis () const
void	getConstraintConversionMatricesRefDwrench (std::vector< hrp::dvector6 > &ccm1, std::vector< hrp::dvector6 > &ccm2, std::vector< double > &refdw) const
hrp::dvector	getDataForLogger () const
size_t	getDetectGeneralizedWrenchDim () const
detector_total_wrench	getDetectorTotalWrench () const
double	getDetectRatioThre () const
double	getDetectTimeThre () const
double	getDwrenchCutoffFreq () const
std::vector< double >	getFilteredFrictionCoeffWrenchWithHold () const
hrp::dvector6	getFilteredResultantWrenchWithHold () const
std::vector< double >	getFilteredWrenchWithHold () const
double	getForgettingRatioThre () const
bool	getIsHoldValues () const
double	getMaxTime () const
process_mode	getMode (const size_t idx) const
hrp::Vector3	getMomentCenter () const
double	getOtherDetectTimeThre () const
double	getStartRatioThre () const
double	getStartTimeThre () const
double	getWrenchCutoffFreq () const
bool	isDetected (const size_t idx) const
bool	isDetected () const
	ObjectContactTurnaroundDetectorBase (const double _dt)
void	printParams () const
void	resizeVariablesForGeneralizedWrench (size_t generalized_wrench_dim)
void	setAxis (const hrp::Vector3 &a)
void	setConstraintConversionMatricesRefDwrench (const std::vector< hrp::dvector6 > &ccm1, const std::vector< hrp::dvector6 > &ccm2, const std::vector< double > &refdw)
void	setDetectorTotalWrench (const detector_total_wrench _dtw)
void	setDetectRatioThre (const double a)
void	setDetectTimeThre (const double a)
void	setDwrenchCutoffFreq (const double a)
void	setForgettingRatioThre (const double a)
void	setIsHoldValues (const bool a)
void	setMaxTime (const double a)
void	setMomentCenter (const hrp::Vector3 &a)
void	setOtherDetectTimeThre (const double 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)
void	startDetectionForGeneralizedWrench ()
bool	updateProcessModeFromDwrench (const std::vector< double > &tmp_dwrench)
	~ObjectContactTurnaroundDetectorBase ()
Private Attributes
hrp::Vector3	axis
std::vector< hrp::dvector6 >	constraint_conversion_matrix1
std::vector< hrp::dvector6 >	constraint_conversion_matrix2
std::vector< size_t >	count
double	current_time
size_t	detect_count_thre
double	detect_ratio_thre
std::vector< double >	dphi1
double	dt
detector_total_wrench	dtw
boost::shared_ptr < FirstOrderLowPassFilter < double > >	dwrench_filter
std::vector< double >	filtered_friction_coeff_wrench_with_hold
hrp::dvector6	filtered_resultant_wrench_with_hold
std::vector< double >	filtered_wrench_with_hold
double	forgetting_ratio_thre
boost::shared_ptr < FirstOrderLowPassFilter < double > >	friction_coeff_wrench_filter
bool	is_filter_reset
bool	is_hold_values
bool	is_other_constraint_detected
double	max_time
hrp::Vector3	moment_center
size_t	other_detect_count_thre
std::vector< double >	phi1
std::vector< double >	phi2
std::vector< process_mode >	pmode
std::string	print_str
std::vector< double >	raw_wrench
std::vector< double >	ref_dwrench
boost::shared_ptr < FirstOrderLowPassFilter < hrp::dvector6 > >	resultant_dwrench_filter
boost::shared_ptr < FirstOrderLowPassFilter < hrp::dvector6 > >	resultant_wrench_filter
size_t	start_count_thre
double	start_ratio_thre
boost::shared_ptr < FirstOrderLowPassFilter < double > >	wrench_filter

Detailed Description

Definition at line 11 of file ObjectContactTurnaroundDetectorBase.h.

Member Enumeration Documentation

enum ObjectContactTurnaroundDetectorBase::detector_total_wrench

Enumerator:

TOTAL_FORCE
TOTAL_MOMENT
TOTAL_MOMENT2
GENERALIZED_WRENCH

Definition at line 15 of file ObjectContactTurnaroundDetectorBase.h.

enum ObjectContactTurnaroundDetectorBase::process_mode

Enumerator:

MODE_IDLE
MODE_STARTED
MODE_DETECTED
MODE_MAX_TIME
MODE_OTHER_DETECTED

Definition at line 14 of file ObjectContactTurnaroundDetectorBase.h.

Constructor & Destructor Documentation

ObjectContactTurnaroundDetectorBase::ObjectContactTurnaroundDetectorBase ( const double _dt ) [inline]

Definition at line 40 of file ObjectContactTurnaroundDetectorBase.h.

ObjectContactTurnaroundDetectorBase::~ObjectContactTurnaroundDetectorBase ( ) [inline]

Definition at line 58 of file ObjectContactTurnaroundDetectorBase.h.

Member Function Documentation

void ObjectContactTurnaroundDetectorBase::calcPhiValueFromConstraintConversionMatrix	(	std::vector< double > &	phi,
		const std::vector< hrp::dvector6 > &	ccm,
		const hrp::dvector6 &	res_wrench
	)		`[inline]`

Definition at line 215 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::calcTotalForceMoment	(	hrp::Vector3 &	total_force,
		hrp::Vector3 &	total_moment1,
		hrp::Vector3 &	total_moment2,
		const std::vector< hrp::Vector3 > &	forces,
		const std::vector< hrp::Vector3 > &	moments,
		const std::vector< hrp::Vector3 > &	hposv
	)		`[inline]`

Definition at line 101 of file ObjectContactTurnaroundDetectorBase.h.

bool ObjectContactTurnaroundDetectorBase::checkDetection	(	const std::vector< hrp::Vector3 > &	forces,
		const std::vector< hrp::Vector3 > &	moments,
		const std::vector< hrp::Vector3 > &	hposv
	)		`[inline]`

Definition at line 112 of file ObjectContactTurnaroundDetectorBase.h.

bool ObjectContactTurnaroundDetectorBase::checkDetection	(	const double	raw_wrench_value,
		const double	raw_friction_coeff_wrench_value
	)		`[inline]`

Definition at line 158 of file ObjectContactTurnaroundDetectorBase.h.

bool ObjectContactTurnaroundDetectorBase::checkDetection ( const hrp::dvector6 & raw_resultant_wrench_value ) [inline]

Definition at line 185 of file ObjectContactTurnaroundDetectorBase.h.

hrp::Vector3 ObjectContactTurnaroundDetectorBase::getAxis ( ) const [inline]

Definition at line 375 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::getConstraintConversionMatricesRefDwrench	(	std::vector< hrp::dvector6 > &	ccm1,
		std::vector< hrp::dvector6 > &	ccm2,
		std::vector< double > &	refdw
	)		const `[inline]`

Definition at line 377 of file ObjectContactTurnaroundDetectorBase.h.

hrp::dvector ObjectContactTurnaroundDetectorBase::getDataForLogger ( ) const [inline]

Definition at line 386 of file ObjectContactTurnaroundDetectorBase.h.

size_t ObjectContactTurnaroundDetectorBase::getDetectGeneralizedWrenchDim ( ) const [inline]

Definition at line 385 of file ObjectContactTurnaroundDetectorBase.h.

detector_total_wrench ObjectContactTurnaroundDetectorBase::getDetectorTotalWrench ( ) const [inline]

Definition at line 383 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getDetectRatioThre ( ) const [inline]

Definition at line 369 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getDetectTimeThre ( ) const [inline]

Definition at line 371 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getDwrenchCutoffFreq ( ) const [inline]

Definition at line 367 of file ObjectContactTurnaroundDetectorBase.h.

std::vector<double> ObjectContactTurnaroundDetectorBase::getFilteredFrictionCoeffWrenchWithHold ( ) const [inline]

Definition at line 404 of file ObjectContactTurnaroundDetectorBase.h.

hrp::dvector6 ObjectContactTurnaroundDetectorBase::getFilteredResultantWrenchWithHold ( ) const [inline]

Definition at line 405 of file ObjectContactTurnaroundDetectorBase.h.

std::vector<double> ObjectContactTurnaroundDetectorBase::getFilteredWrenchWithHold ( ) const [inline]

Definition at line 403 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getForgettingRatioThre ( ) const [inline]

Definition at line 374 of file ObjectContactTurnaroundDetectorBase.h.

bool ObjectContactTurnaroundDetectorBase::getIsHoldValues ( ) const [inline]

Definition at line 400 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getMaxTime ( ) const [inline]

Definition at line 401 of file ObjectContactTurnaroundDetectorBase.h.

process_mode ObjectContactTurnaroundDetectorBase::getMode ( const size_t idx ) const [inline]

Definition at line 384 of file ObjectContactTurnaroundDetectorBase.h.

hrp::Vector3 ObjectContactTurnaroundDetectorBase::getMomentCenter ( ) const [inline]

Definition at line 376 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getOtherDetectTimeThre ( ) const [inline]

Definition at line 373 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getStartRatioThre ( ) const [inline]

Definition at line 370 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getStartTimeThre ( ) const [inline]

Definition at line 372 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getWrenchCutoffFreq ( ) const [inline]

Definition at line 366 of file ObjectContactTurnaroundDetectorBase.h.

bool ObjectContactTurnaroundDetectorBase::isDetected ( const size_t idx ) const [inline]

Definition at line 279 of file ObjectContactTurnaroundDetectorBase.h.

bool ObjectContactTurnaroundDetectorBase::isDetected ( ) const [inline]

Definition at line 280 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::printParams ( ) const [inline]

Definition at line 287 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::resizeVariablesForGeneralizedWrench ( size_t generalized_wrench_dim ) [inline]

Definition at line 86 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setAxis ( const hrp::Vector3 & a ) [inline]

Definition at line 347 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setConstraintConversionMatricesRefDwrench	(	const std::vector< hrp::dvector6 > &	ccm1,
		const std::vector< hrp::dvector6 > &	ccm2,
		const std::vector< double > &	refdw
	)		`[inline]`