FtCalibration Class Reference

#include <sot/talos_balance/ft-calibration.hh>

Inheritance diagram for FtCalibration:

Collaboration diagram for FtCalibration:

Public Types
typedef Eigen::Matrix< double, 6, 1 >	Vector6d

Public Member Functions
	FtCalibration (const std::string &name)
void	calibrateFeetSensor ()
	DECLARE_SIGNAL_IN (left_foot_force_in, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (right_foot_force_in, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (left_foot_force_out, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (right_foot_force_out, dynamicgraph::Vector)
virtual void	display (std::ostream &os) const
void	displayRobotUtil ()
void	init (const std::string &robotRef)
	Initialize. More...
void	setLeftFootWeight (const double &leftW)
void	setRightFootWeight (const double &rightW)
	Commands for setting the feet weight. More...

Protected Attributes
bool	m_initSucceeded
int	m_left_calibration_iter
Vector6d	m_left_foot_weight
Vector6d	m_left_FT_offset
	Offset or bias to be removed from Right FT sensor. More...
Vector6d	m_left_FT_offset_calibration_sum
int	m_right_calibration_iter
Vector6d	m_right_foot_weight
	true if the entity has been successfully initialized More...
Vector6d	m_right_FT_offset
Vector6d	m_right_FT_offset_calibration_sum
	Offset or bias to be removed from Left FT sensor. More...
RobotUtilShrPtr	m_robot_util

Detailed Description

Definition at line 51 of file ft-calibration.hh.

Member Typedef Documentation

Vector6d

typedef Eigen::Matrix<double, 6, 1> Vector6d

Definition at line 83 of file ft-calibration.hh.

Constructor & Destructor Documentation

FtCalibration()

FtCalibration

(

const std::string &

name

)

Definition at line 41 of file ft-calibration.cpp.

Member Function Documentation

calibrateFeetSensor()

void calibrateFeetSensor

(

)

Command to calibrate the foot sensors when the robot is standing in the air with horizontal feet

Definition at line 167 of file ft-calibration.cpp.

DECLARE_SIGNAL_IN() [1/2]

DECLARE_SIGNAL_IN	(	left_foot_force_in	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [2/2]

DECLARE_SIGNAL_IN	(	right_foot_force_in	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [1/2]

DECLARE_SIGNAL_OUT	(	left_foot_force_out	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [2/2]

DECLARE_SIGNAL_OUT	(	right_foot_force_out	,
		dynamicgraph::Vector
	)

display()

void display ( std::ostream &  os ) const

virtual

Definition at line 183 of file ft-calibration.cpp.

displayRobotUtil()

void displayRobotUtil

(

)

init()

void init

(

const std::string &

robotRef

)

Initialize.

Definition at line 75 of file ft-calibration.cpp.

setLeftFootWeight()

void setLeftFootWeight

(

const double &

leftW

)

Definition at line 158 of file ft-calibration.cpp.

setRightFootWeight()

void setRightFootWeight

(

const double &

rightW

)

Commands for setting the feet weight.

Definition at line 149 of file ft-calibration.cpp.

Member Data Documentation

m_initSucceeded

bool m_initSucceeded

protected

Variable used durring average computation of the offset

Definition at line 102 of file ft-calibration.hh.

m_left_calibration_iter

int m_left_calibration_iter

protected

Initial value:

=
      -1

Number of iteration left for calibration (-1= not cailbrated, 0=caibration done)

Definition at line 90 of file ft-calibration.hh.

m_left_foot_weight

Vector6d m_left_foot_weight

protected

Definition at line 106 of file ft-calibration.hh.

m_left_FT_offset

Vector6d m_left_FT_offset

protected

Offset or bias to be removed from Right FT sensor.

Definition at line 96 of file ft-calibration.hh.

m_left_FT_offset_calibration_sum

Vector6d m_left_FT_offset_calibration_sum

protected

Variable used durring average computation of the offset

Definition at line 99 of file ft-calibration.hh.

m_right_calibration_iter

int m_right_calibration_iter

protected

Initial value:

=
      -1

Definition at line 87 of file ft-calibration.hh.

m_right_foot_weight

Vector6d m_right_foot_weight

protected

true if the entity has been successfully initialized

Definition at line 104 of file ft-calibration.hh.

m_right_FT_offset

Vector6d m_right_FT_offset

protected

Number of iteration left for calibration (-1= not cailbrated, 0=caibration done)

Definition at line 94 of file ft-calibration.hh.

m_right_FT_offset_calibration_sum

Vector6d m_right_FT_offset_calibration_sum

protected

Offset or bias to be removed from Left FT sensor.

Definition at line 97 of file ft-calibration.hh.

m_robot_util

RobotUtilShrPtr m_robot_util

protected

Definition at line 86 of file ft-calibration.hh.

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

• include/sot/talos_balance/ft-calibration.hh
• src/ft-calibration.cpp