#include <angle-estimator.h>

Inheritance diagram for dynamicgraph::sot::AngleEstimator:

Public Member Functions
	AngleEstimator (const std::string &name)

dynamicgraph::Vector &	compute_qdotSOUT (dynamicgraph::Vector &res, const sigtime_t &time)

dynamicgraph::Vector &	compute_xff_dotSOUT (dynamicgraph::Vector &res, const sigtime_t &time)

dynamicgraph::Vector &	computeAngles (dynamicgraph::Vector &res, const sigtime_t &time)

MatrixRotation &	computeDriftFromAngles (MatrixRotation &res, const sigtime_t &time)

MatrixRotation &	computeFlexibilityFromAngles (MatrixRotation &res, const sigtime_t &time)

MatrixRotation &	computeSensorWorldRotation (MatrixRotation &res, const sigtime_t &time)

dynamicgraph::Vector &	computeWaistWorldPoseRPY (dynamicgraph::Vector &res, const sigtime_t &time)

MatrixHomogeneous &	computeWaistWorldPosition (MatrixHomogeneous &res, const sigtime_t &time)

MatrixRotation &	computeWaistWorldRotation (MatrixRotation &res, const sigtime_t &time)

bool	fromSensor () const

void	fromSensor (const bool &fs)

virtual const std::string &	getClassName (void) const

virtual	~AngleEstimator (void)

Public Member Functions inherited from dynamicgraph::Entity
virtual void	display (std::ostream &os) const

std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

const std::string &	getCommandList () const

virtual std::string	getDocString () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger &	logger ()

const Logger &	logger () const

const Logger &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Public Attributes
dg::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	anglesSOUT

dg::SignalPtr< MatrixHomogeneous, sigtime_t >	contactEmbeddedPositionSIN

dg::SignalPtr< MatrixHomogeneous, sigtime_t >	contactWorldPositionSIN

dg::SignalTimeDependent< MatrixRotation, sigtime_t >	driftSOUT

dg::SignalTimeDependent< MatrixRotation, sigtime_t >	flexibilitySOUT

dg::SignalPtr< dynamicgraph::Matrix, sigtime_t >	jacobianSIN

dg::SignalPtr< dynamicgraph::Vector, sigtime_t >	qdotSIN

dg::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	qdotSOUT

dg::SignalPtr< MatrixHomogeneous, sigtime_t >	sensorEmbeddedPositionSIN

dg::SignalPtr< MatrixRotation, sigtime_t >	sensorWorldRotationSIN

dg::SignalTimeDependent< MatrixRotation, sigtime_t >	sensorWorldRotationSOUT

dg::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	waistWorldPoseRPYSOUT

dg::SignalTimeDependent< MatrixHomogeneous, sigtime_t >	waistWorldPositionSOUT

dg::SignalTimeDependent< MatrixRotation, sigtime_t >	waistWorldRotationSOUT

dg::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	xff_dotSOUT

Static Public Attributes
static const std::string	CLASS_NAME

Private Attributes
bool	fromSensor_

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command * >	CommandMap_t

typedef std::map< std::string, SignalBase< int > * >	SignalMap

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< int > &signals)

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Detailed Description

Definition at line 51 of file angle-estimator.h.

Constructor & Destructor Documentation

◆ AngleEstimator()

AngleEstimator::AngleEstimator ( const std::string & name )

Definition at line 23 of file angle-estimator.cpp.

◆ ~AngleEstimator()

AngleEstimator::~AngleEstimator ( void )

virtual

Definition at line 137 of file angle-estimator.cpp.

Member Function Documentation

◆ compute_qdotSOUT()

dynamicgraph::Vector & AngleEstimator::compute_qdotSOUT	(	dynamicgraph::Vector &	res,
		const sigtime_t &	time
	)

Definition at line 362 of file angle-estimator.cpp.

◆ compute_xff_dotSOUT()

dynamicgraph::Vector & AngleEstimator::compute_xff_dotSOUT	(	dynamicgraph::Vector &	res,
		const sigtime_t &	time
	)

Definition at line 340 of file angle-estimator.cpp.

◆ computeAngles()

dynamicgraph::Vector & AngleEstimator::computeAngles	(	dynamicgraph::Vector &	res,
		const sigtime_t &	time
	)

Definition at line 147 of file angle-estimator.cpp.

◆ computeDriftFromAngles()

MatrixRotation & AngleEstimator::computeDriftFromAngles	(	MatrixRotation &	res,
		const sigtime_t &	time
	)

Definition at line 242 of file angle-estimator.cpp.

◆ computeFlexibilityFromAngles()

MatrixRotation & AngleEstimator::computeFlexibilityFromAngles	(	MatrixRotation &	res,
		const sigtime_t &	time
	)

Definition at line 212 of file angle-estimator.cpp.

◆ computeSensorWorldRotation()

MatrixRotation & AngleEstimator::computeSensorWorldRotation	(	MatrixRotation &	res,
		const sigtime_t &	time
	)

Definition at line 268 of file angle-estimator.cpp.

◆ computeWaistWorldPoseRPY()

dynamicgraph::Vector & AngleEstimator::computeWaistWorldPoseRPY	(	dynamicgraph::Vector &	res,
		const sigtime_t &	time
	)

Definition at line 321 of file angle-estimator.cpp.

◆ computeWaistWorldPosition()

MatrixHomogeneous & AngleEstimator::computeWaistWorldPosition	(	MatrixHomogeneous &	res,
		const sigtime_t &	time
	)

Definition at line 297 of file angle-estimator.cpp.

◆ computeWaistWorldRotation()

MatrixRotation & AngleEstimator::computeWaistWorldRotation	(	MatrixRotation &	res,
		const sigtime_t &	time
	)

Definition at line 281 of file angle-estimator.cpp.

◆ fromSensor() [1/2]

bool dynamicgraph::sot::AngleEstimator::fromSensor ( ) const

inline

Definition at line 111 of file angle-estimator.h.

◆ fromSensor() [2/2]

void dynamicgraph::sot::AngleEstimator::fromSensor ( const bool & fs )

inline

Definition at line 110 of file angle-estimator.h.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::AngleEstimator::getClassName ( void ) const

inlinevirtual

Reimplemented from dynamicgraph::Entity.

Definition at line 54 of file angle-estimator.h.

Member Data Documentation

◆ anglesSOUT

dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::AngleEstimator::anglesSOUT

Definition at line 70 of file angle-estimator.h.

◆ CLASS_NAME

const std::string dynamicgraph::sot::AngleEstimator::CLASS_NAME

static

Definition at line 53 of file angle-estimator.h.

◆ contactEmbeddedPositionSIN

dg::SignalPtr<MatrixHomogeneous, sigtime_t> dynamicgraph::sot::AngleEstimator::contactEmbeddedPositionSIN

Definition at line 68 of file angle-estimator.h.

◆ contactWorldPositionSIN

dg::SignalPtr<MatrixHomogeneous, sigtime_t> dynamicgraph::sot::AngleEstimator::contactWorldPositionSIN

Definition at line 66 of file angle-estimator.h.

◆ driftSOUT

dg::SignalTimeDependent<MatrixRotation, sigtime_t> dynamicgraph::sot::AngleEstimator::driftSOUT

Definition at line 74 of file angle-estimator.h.

◆ flexibilitySOUT

dg::SignalTimeDependent<MatrixRotation, sigtime_t> dynamicgraph::sot::AngleEstimator::flexibilitySOUT

Definition at line 72 of file angle-estimator.h.

◆ fromSensor_

bool dynamicgraph::sot::AngleEstimator::fromSensor_

private

Definition at line 114 of file angle-estimator.h.

◆ jacobianSIN

dg::SignalPtr<dynamicgraph::Matrix, sigtime_t> dynamicgraph::sot::AngleEstimator::jacobianSIN

Definition at line 84 of file angle-estimator.h.

◆ qdotSIN

dg::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::AngleEstimator::qdotSIN

Definition at line 85 of file angle-estimator.h.

◆ qdotSOUT

dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::AngleEstimator::qdotSOUT

Definition at line 87 of file angle-estimator.h.

◆ sensorEmbeddedPositionSIN

dg::SignalPtr<MatrixHomogeneous, sigtime_t> dynamicgraph::sot::AngleEstimator::sensorEmbeddedPositionSIN

Definition at line 64 of file angle-estimator.h.

◆ sensorWorldRotationSIN

dg::SignalPtr<MatrixRotation, sigtime_t> dynamicgraph::sot::AngleEstimator::sensorWorldRotationSIN

Definition at line 62 of file angle-estimator.h.

◆ sensorWorldRotationSOUT

dg::SignalTimeDependent<MatrixRotation, sigtime_t> dynamicgraph::sot::AngleEstimator::sensorWorldRotationSOUT

Definition at line 76 of file angle-estimator.h.

◆ waistWorldPoseRPYSOUT

dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::AngleEstimator::waistWorldPoseRPYSOUT

Definition at line 82 of file angle-estimator.h.

◆ waistWorldPositionSOUT

dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t> dynamicgraph::sot::AngleEstimator::waistWorldPositionSOUT

Definition at line 80 of file angle-estimator.h.

◆ waistWorldRotationSOUT

dg::SignalTimeDependent<MatrixRotation, sigtime_t> dynamicgraph::sot::AngleEstimator::waistWorldRotationSOUT

Definition at line 78 of file angle-estimator.h.

◆ xff_dotSOUT

dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::AngleEstimator::xff_dotSOUT

Definition at line 86 of file angle-estimator.h.

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

Public Member Functions

Public Attributes

Static Public Attributes

Private Attributes

Additional Inherited Members