ObjectContactTurnaroundDetectorBase Class Reference

#include <ObjectContactTurnaroundDetectorBase.h>

List of all members.

Public Types
enum	detector_total_wrench { TOTAL_FORCE, TOTAL_MOMENT, TOTAL_MOMENT2 }
enum	process_mode { MODE_IDLE, MODE_STARTED, MODE_DETECTED, MODE_MAX_TIME }
Public Member Functions
hrp::Vector3	calcTotalForce (const std::vector< hrp::Vector3 > &forces)
hrp::Vector3	calcTotalMoment (const std::vector< hrp::Vector3 > &forces, const std::vector< hrp::Vector3 > &hposv)
hrp::Vector3	calcTotalMoment2 (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 wrench_value, const double friction_coeff_wrench_value)
hrp::Vector3	getAxis () const
detector_total_wrench	getDetectorTotalWrench () const
double	getDetectRatioThre () const
double	getDetectTimeThre () const
double	getDwrenchCutoffFreq () const
double	getFilteredDwrench () const
double	getFilteredFrictionCoeffWrench () const
double	getFilteredWrench () const
double	getFrictionCoeffWrenchCutoffFreq () const
process_mode	getMode () const
hrp::Vector3	getMomentCenter () const
double	getRawWrench () const
double	getStartRatioThre () const
double	getStartTimeThre () const
double	getWrenchCutoffFreq () const
bool	isDetected () const
	ObjectContactTurnaroundDetectorBase (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	setFrictionCoeffWrenchCutoffFreq (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)
	~ObjectContactTurnaroundDetectorBase ()
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
boost::shared_ptr < FirstOrderLowPassFilter < double > >	friction_coeff_wrench_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 ObjectContactTurnaroundDetectorBase.h.

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Member Enumeration Documentation

enum ObjectContactTurnaroundDetectorBase::detector_total_wrench

Enumerator:

TOTAL_FORCE
TOTAL_MOMENT
TOTAL_MOMENT2

Definition at line 15 of file ObjectContactTurnaroundDetectorBase.h.

enum ObjectContactTurnaroundDetectorBase::process_mode

Enumerator:

MODE_IDLE
MODE_STARTED
MODE_DETECTED
MODE_MAX_TIME

Definition at line 14 of file ObjectContactTurnaroundDetectorBase.h.

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Constructor & Destructor Documentation

ObjectContactTurnaroundDetectorBase::ObjectContactTurnaroundDetectorBase

(

const double

_dt

)

[inline]

Definition at line 33 of file ObjectContactTurnaroundDetectorBase.h.

ObjectContactTurnaroundDetectorBase::~ObjectContactTurnaroundDetectorBase

(

)

[inline]

Definition at line 41 of file ObjectContactTurnaroundDetectorBase.h.

---

Member Function Documentation

hrp::Vector3 ObjectContactTurnaroundDetectorBase::calcTotalForce

(

const std::vector< hrp::Vector3 > &

forces

)

[inline]

Definition at line 52 of file ObjectContactTurnaroundDetectorBase.h.

hrp::Vector3 ObjectContactTurnaroundDetectorBase::calcTotalMoment	(	const std::vector< hrp::Vector3 > &	forces,
		const std::vector< hrp::Vector3 > &	hposv
	)		[inline]

Definition at line 60 of file ObjectContactTurnaroundDetectorBase.h.

hrp::Vector3 ObjectContactTurnaroundDetectorBase::calcTotalMoment2	(	const std::vector< hrp::Vector3 > &	forces,
		const std::vector< hrp::Vector3 > &	moments,
		const std::vector< hrp::Vector3 > &	hposv
	)		[inline]

Definition at line 68 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 76 of file ObjectContactTurnaroundDetectorBase.h.

bool ObjectContactTurnaroundDetectorBase::checkDetection	(	const double	wrench_value,
		const double	friction_coeff_wrench_value
	)		[inline]

Definition at line 103 of file ObjectContactTurnaroundDetectorBase.h.

hrp::Vector3 ObjectContactTurnaroundDetectorBase::getAxis

(

)

const [inline]

Definition at line 190 of file ObjectContactTurnaroundDetectorBase.h.

detector_total_wrench ObjectContactTurnaroundDetectorBase::getDetectorTotalWrench

(

)

const [inline]

Definition at line 192 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getDetectRatioThre

(

)

const [inline]

Definition at line 186 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getDetectTimeThre

(

)

const [inline]

Definition at line 188 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getDwrenchCutoffFreq

(

)

const [inline]

Definition at line 184 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getFilteredDwrench

(

)

const [inline]

Definition at line 194 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getFilteredFrictionCoeffWrench

(

)

const [inline]

Definition at line 195 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getFilteredWrench

(

)

const [inline]

Definition at line 193 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getFrictionCoeffWrenchCutoffFreq

(

)

const [inline]

Definition at line 185 of file ObjectContactTurnaroundDetectorBase.h.

process_mode ObjectContactTurnaroundDetectorBase::getMode

(

)

const [inline]

Definition at line 156 of file ObjectContactTurnaroundDetectorBase.h.

hrp::Vector3 ObjectContactTurnaroundDetectorBase::getMomentCenter

(

)

const [inline]

Definition at line 191 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getRawWrench

(

)

const [inline]

Definition at line 196 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getStartRatioThre

(

)

const [inline]

Definition at line 187 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getStartTimeThre

(

)

const [inline]

Definition at line 189 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::getWrenchCutoffFreq

(

)

const [inline]

Definition at line 183 of file ObjectContactTurnaroundDetectorBase.h.

bool ObjectContactTurnaroundDetectorBase::isDetected

(

)

const [inline]

Definition at line 155 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::printParams

(

)

const [inline]

Definition at line 157 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setAxis

(

const hrp::Vector3 &

a

)

[inline]

Definition at line 174 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setDetectorTotalWrench

(

const detector_total_wrench

_dtw

)

[inline]

Definition at line 176 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setDetectRatioThre

(

const double

a

)

[inline]

Definition at line 170 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setDetectTimeThre

(

const double

a

)

[inline]

Definition at line 172 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setDwrenchCutoffFreq

(

const double

a

)

[inline]

Definition at line 168 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setFrictionCoeffWrenchCutoffFreq

(

const double

a

)

[inline]

Definition at line 169 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setMomentCenter

(

const hrp::Vector3 &

a

)

[inline]

Definition at line 175 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setPrintStr

(

const std::string &

str

)

[inline]

Definition at line 166 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setStartRatioThre

(

const double

a

)

[inline]

Definition at line 171 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setStartTimeThre

(

const double

a

)

[inline]

Definition at line 173 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::setWrenchCutoffFreq

(

const double

a

)

[inline]

Definition at line 167 of file ObjectContactTurnaroundDetectorBase.h.

void ObjectContactTurnaroundDetectorBase::startDetection	(	const double	_ref_diff_wrench,
		const double	_max_time
	)		[inline]

Definition at line 42 of file ObjectContactTurnaroundDetectorBase.h.

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Member Data Documentation

hrp::Vector3 ObjectContactTurnaroundDetectorBase::axis [private]

Definition at line 20 of file ObjectContactTurnaroundDetectorBase.h.

size_t ObjectContactTurnaroundDetectorBase::count [private]

Definition at line 23 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::current_time [private]

Definition at line 22 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::current_wrench [private]

Definition at line 22 of file ObjectContactTurnaroundDetectorBase.h.

size_t ObjectContactTurnaroundDetectorBase::detect_count_thre [private]

Definition at line 27 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::detect_ratio_thre [private]

Definition at line 22 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::dt [private]

Definition at line 21 of file ObjectContactTurnaroundDetectorBase.h.

detector_total_wrench ObjectContactTurnaroundDetectorBase::dtw [private]

Definition at line 29 of file ObjectContactTurnaroundDetectorBase.h.

boost::shared_ptr<FirstOrderLowPassFilter<double> > ObjectContactTurnaroundDetectorBase::dwrench_filter [private]

Definition at line 18 of file ObjectContactTurnaroundDetectorBase.h.

boost::shared_ptr<FirstOrderLowPassFilter<double> > ObjectContactTurnaroundDetectorBase::friction_coeff_wrench_filter [private]

Definition at line 19 of file ObjectContactTurnaroundDetectorBase.h.

bool ObjectContactTurnaroundDetectorBase::is_dwr_changed [private]

Definition at line 31 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::max_time [private]

Definition at line 22 of file ObjectContactTurnaroundDetectorBase.h.

hrp::Vector3 ObjectContactTurnaroundDetectorBase::moment_center [private]

Definition at line 20 of file ObjectContactTurnaroundDetectorBase.h.

process_mode ObjectContactTurnaroundDetectorBase::pmode [private]

Definition at line 28 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::prev_wrench [private]

Definition at line 21 of file ObjectContactTurnaroundDetectorBase.h.

std::string ObjectContactTurnaroundDetectorBase::print_str [private]

Definition at line 30 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::ref_dwrench [private]

Definition at line 22 of file ObjectContactTurnaroundDetectorBase.h.

size_t ObjectContactTurnaroundDetectorBase::start_count_thre [private]

Definition at line 27 of file ObjectContactTurnaroundDetectorBase.h.

double ObjectContactTurnaroundDetectorBase::start_ratio_thre [private]

Definition at line 22 of file ObjectContactTurnaroundDetectorBase.h.

boost::shared_ptr<FirstOrderLowPassFilter<double> > ObjectContactTurnaroundDetectorBase::wrench_filter [private]

Definition at line 17 of file ObjectContactTurnaroundDetectorBase.h.

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

• ObjectContactTurnaroundDetectorBase.h