DcmEstimator Class Reference

#include <sot/talos_balance/dcm-estimator.hh>

Inheritance diagram for DcmEstimator:

Collaboration diagram for DcmEstimator:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DcmEstimator (const std::string &name)
	DECLARE_SIGNAL_IN (q, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (v, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (c, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (dc, dynamicgraph::Vector)
virtual void	display (std::ostream &os) const
void	init (const double &dt, const std::string &urdfFile)

Protected Attributes
pinocchio::Data	m_data
double	m_dt
	robot velocities according to pinocchio convention More...
bool	m_initSucceeded
pinocchio::Model	m_model
	sampling time step More...
Eigen::VectorXd	m_q_pin
	Pinocchio robot data. More...
RobotUtilShrPtr	m_robot_util
	true if the entity has been successfully initialized More...
Eigen::VectorXd	m_v_pin
	robot configuration according to pinocchio convention More...

Detailed Description

Definition at line 55 of file dcm-estimator.hh.

Constructor & Destructor Documentation

DcmEstimator()

DcmEstimator

(

const std::string &

name

)

Definition at line 47 of file dcm-estimator.cpp.

Member Function Documentation

DECLARE_SIGNAL_IN() [1/2]

DECLARE_SIGNAL_IN	(	q	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [2/2]

DECLARE_SIGNAL_IN	(	v	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [1/2]

DECLARE_SIGNAL_OUT	(	c	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [2/2]

DECLARE_SIGNAL_OUT	(	dc	,
		dynamicgraph::Vector
	)

display()

void display ( std::ostream &  os ) const

virtual

Definition at line 119 of file dcm-estimator.cpp.

init()

void init	(	const double &	dt,
		const std::string &	urdfFile
	)

Definition at line 63 of file dcm-estimator.cpp.

Member Data Documentation

m_data

pinocchio::Data m_data

protected

Definition at line 89 of file dcm-estimator.hh.

m_dt

double m_dt

protected

robot velocities according to pinocchio convention

Definition at line 94 of file dcm-estimator.hh.

m_initSucceeded

bool m_initSucceeded

protected

Definition at line 87 of file dcm-estimator.hh.

m_model

pinocchio::Model m_model

protected

sampling time step

Definition at line 95 of file dcm-estimator.hh.

m_q_pin

Eigen::VectorXd m_q_pin

protected

Pinocchio robot data.

Definition at line 91 of file dcm-estimator.hh.

m_robot_util

RobotUtilShrPtr m_robot_util

protected

true if the entity has been successfully initialized

Definition at line 88 of file dcm-estimator.hh.

m_v_pin

Eigen::VectorXd m_v_pin

protected

robot configuration according to pinocchio convention

Definition at line 93 of file dcm-estimator.hh.

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

• include/sot/talos_balance/dcm-estimator.hh
• src/dcm-estimator.cpp