Public Types | Public Member Functions | Private Attributes
ObjectTurnaroundDetector Class Reference

#include <ObjectTurnaroundDetector.h>

List of all members.

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

Enumerator:
TOTAL_FORCE 
TOTAL_MOMENT 

Definition at line 15 of file ObjectTurnaroundDetector.h.

Enumerator:
MODE_IDLE 
MODE_STARTED 
MODE_DETECTED 
MODE_MAX_TIME 

Definition at line 14 of file ObjectTurnaroundDetector.h.


Constructor & Destructor Documentation

Definition at line 32 of file ObjectTurnaroundDetector.h.

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Member Function Documentation

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

Definition at line 50 of file ObjectTurnaroundDetector.h.

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

Definition at line 58 of file ObjectTurnaroundDetector.h.

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

Definition at line 66 of file ObjectTurnaroundDetector.h.

bool ObjectTurnaroundDetector::checkDetection ( const double  wrench_value) [inline]

Definition at line 79 of file ObjectTurnaroundDetector.h.

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double ObjectTurnaroundDetector::getRawWrench ( ) const [inline]

Definition at line 167 of file ObjectTurnaroundDetector.h.

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double ObjectTurnaroundDetector::getStartTimeThre ( ) const [inline]

Definition at line 161 of file ObjectTurnaroundDetector.h.

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bool ObjectTurnaroundDetector::isDetected ( ) const [inline]

Definition at line 129 of file ObjectTurnaroundDetector.h.

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

Definition at line 140 of file ObjectTurnaroundDetector.h.

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

Definition at line 40 of file ObjectTurnaroundDetector.h.


Member Data Documentation

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double ObjectTurnaroundDetector::dt [private]

Definition at line 20 of file ObjectTurnaroundDetector.h.

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std::string ObjectTurnaroundDetector::print_str [private]

Definition at line 29 of file ObjectTurnaroundDetector.h.

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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:57