testObjectContactTurnaroundDetectorBase Class Reference

List of all members.

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

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Detailed Description

Definition at line 10 of file testObjectContactTurnaroundDetectorBase.cpp.

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Constructor & Destructor Documentation

testObjectContactTurnaroundDetectorBase::testObjectContactTurnaroundDetectorBase

(

const double

_dt = 0.004

)

[inline]

Definition at line 61 of file testObjectContactTurnaroundDetectorBase.cpp.

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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

(

)

[inline, protected]

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.

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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.

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

• testObjectContactTurnaroundDetectorBase.cpp