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.

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Member Enumeration Documentation

enum ObjectTurnaroundDetector::detector_total_wrench

Enumerator:

TOTAL_FORCE
TOTAL_MOMENT

Definition at line 15 of file ObjectTurnaroundDetector.h.

enum ObjectTurnaroundDetector::process_mode

Enumerator:

MODE_IDLE
MODE_STARTED
MODE_DETECTED
MODE_MAX_TIME

Definition at line 14 of file ObjectTurnaroundDetector.h.

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Constructor & Destructor Documentation

ObjectTurnaroundDetector::ObjectTurnaroundDetector

(

const double

_dt

)

[inline]

Definition at line 32 of file ObjectTurnaroundDetector.h.

ObjectTurnaroundDetector::~ObjectTurnaroundDetector

(

)

[inline]

Definition at line 39 of file ObjectTurnaroundDetector.h.

---

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.

hrp::Vector3 ObjectTurnaroundDetector::getAxis

(

)

const [inline]

Definition at line 162 of file ObjectTurnaroundDetector.h.

detector_total_wrench ObjectTurnaroundDetector::getDetectorTotalWrench

(

)

const [inline]

Definition at line 164 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getDetectRatioThre

(

)

const [inline]

Definition at line 158 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getDetectTimeThre

(

)

const [inline]

Definition at line 160 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getDwrenchCutoffFreq

(

)

const [inline]

Definition at line 157 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getFilteredDwrench

(

)

const [inline]

Definition at line 166 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getFilteredWrench

(

)

const [inline]

Definition at line 165 of file ObjectTurnaroundDetector.h.

process_mode ObjectTurnaroundDetector::getMode

(

)

const [inline]

Definition at line 130 of file ObjectTurnaroundDetector.h.

hrp::Vector3 ObjectTurnaroundDetector::getMomentCenter

(

)

const [inline]

Definition at line 163 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getRawWrench

(

)

const [inline]

Definition at line 167 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getStartRatioThre

(

)

const [inline]

Definition at line 159 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getStartTimeThre

(

)

const [inline]

Definition at line 161 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::getWrenchCutoffFreq

(

)

const [inline]

Definition at line 156 of file ObjectTurnaroundDetector.h.

bool ObjectTurnaroundDetector::isDetected

(

)

const [inline]

Definition at line 129 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::printParams

(

)

const [inline]

Definition at line 131 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setAxis

(

const hrp::Vector3 &

a

)

[inline]

Definition at line 147 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setDetectorTotalWrench

(

const detector_total_wrench

_dtw

)

[inline]

Definition at line 149 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setDetectRatioThre

(

const double

a

)

[inline]

Definition at line 143 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setDetectTimeThre

(

const double

a

)

[inline]

Definition at line 145 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setDwrenchCutoffFreq

(

const double

a

)

[inline]

Definition at line 142 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setMomentCenter

(

const hrp::Vector3 &

a

)

[inline]

Definition at line 148 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setPrintStr

(

const std::string &

str

)

[inline]

Definition at line 140 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setStartRatioThre

(

const double

a

)

[inline]

Definition at line 144 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setStartTimeThre

(

const double

a

)

[inline]

Definition at line 146 of file ObjectTurnaroundDetector.h.

void ObjectTurnaroundDetector::setWrenchCutoffFreq

(

const double

a

)

[inline]

Definition at line 141 of file ObjectTurnaroundDetector.h.

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

Definition at line 40 of file ObjectTurnaroundDetector.h.

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Member Data Documentation

hrp::Vector3 ObjectTurnaroundDetector::axis [private]

Definition at line 19 of file ObjectTurnaroundDetector.h.

size_t ObjectTurnaroundDetector::count [private]

Definition at line 22 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::current_time [private]

Definition at line 21 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::current_wrench [private]

Definition at line 21 of file ObjectTurnaroundDetector.h.

size_t ObjectTurnaroundDetector::detect_count_thre [private]

Definition at line 26 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::detect_ratio_thre [private]

Definition at line 21 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::dt [private]

Definition at line 20 of file ObjectTurnaroundDetector.h.

detector_total_wrench ObjectTurnaroundDetector::dtw [private]

Definition at line 28 of file ObjectTurnaroundDetector.h.

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

Definition at line 18 of file ObjectTurnaroundDetector.h.

bool ObjectTurnaroundDetector::is_dwr_changed [private]

Definition at line 30 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::max_time [private]

Definition at line 21 of file ObjectTurnaroundDetector.h.

hrp::Vector3 ObjectTurnaroundDetector::moment_center [private]

Definition at line 19 of file ObjectTurnaroundDetector.h.

process_mode ObjectTurnaroundDetector::pmode [private]

Definition at line 27 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::prev_wrench [private]

Definition at line 20 of file ObjectTurnaroundDetector.h.

std::string ObjectTurnaroundDetector::print_str [private]

Definition at line 29 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::ref_dwrench [private]

Definition at line 21 of file ObjectTurnaroundDetector.h.

size_t ObjectTurnaroundDetector::start_count_thre [private]

Definition at line 26 of file ObjectTurnaroundDetector.h.

double ObjectTurnaroundDetector::start_ratio_thre [private]

Definition at line 21 of file ObjectTurnaroundDetector.h.

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

Definition at line 17 of file ObjectTurnaroundDetector.h.

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

• ObjectTurnaroundDetector.h