#include <sot/talos_balance/simple-zmp-estimator.hh>

Inheritance diagram for SimpleZmpEstimator:

Collaboration diagram for SimpleZmpEstimator:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SimpleZmpEstimator (const std::string &name, const double &eps=1.0)

Eigen::Vector3d	computeCoP (const dynamicgraph::Vector &wrench, const MatrixHomogeneous &pose) const

	DECLARE_SIGNAL_IN (poseLeft, MatrixHomogeneous)

	DECLARE_SIGNAL_IN (poseRight, MatrixHomogeneous)

	DECLARE_SIGNAL_IN (wrenchLeft, dynamicgraph::Vector)

	DECLARE_SIGNAL_IN (wrenchRight, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (copLeft, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (copRight, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (emergencyStop, bool)

	DECLARE_SIGNAL_OUT (zmp, dynamicgraph::Vector)

virtual void	display (std::ostream &os) const

void	init ()

Public Attributes
double	m_eps

Protected Attributes
bool	m_emergency_stop_triggered
	true if the entity has been successfully initialized More...

bool	m_initSucceeded

Detailed Description

Definition at line 54 of file simple-zmp-estimator.hh.

Constructor & Destructor Documentation

◆ SimpleZmpEstimator()

SimpleZmpEstimator	(	const std::string &	name,
		const double &	eps = `1.0`
	)

Definition at line 57 of file simple-zmp-estimator.cpp.

Member Function Documentation

◆ computeCoP()

Eigen::Vector3d computeCoP	(	const dynamicgraph::Vector &	wrench,
		const MatrixHomogeneous &	pose
	)		const

Definition at line 111 of file simple-zmp-estimator.cpp.

◆ DECLARE_SIGNAL_IN() [1/4]

DECLARE_SIGNAL_IN	(	poseLeft	,
		MatrixHomogeneous
	)

◆ DECLARE_SIGNAL_IN() [2/4]

DECLARE_SIGNAL_IN	(	poseRight	,
		MatrixHomogeneous
	)

◆ DECLARE_SIGNAL_IN() [3/4]

DECLARE_SIGNAL_IN	(	wrenchLeft	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [4/4]

DECLARE_SIGNAL_IN	(	wrenchRight	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [1/4]

DECLARE_SIGNAL_OUT	(	copLeft	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [2/4]

DECLARE_SIGNAL_OUT	(	copRight	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [3/4]

DECLARE_SIGNAL_OUT	(	emergencyStop	,
		bool
	)

◆ DECLARE_SIGNAL_OUT() [4/4]

DECLARE_SIGNAL_OUT	(	zmp	,
		dynamicgraph::Vector
	)

◆ display()

void display ( std::ostream & os ) const

virtual

Definition at line 243 of file simple-zmp-estimator.cpp.

◆ init()

void init ( )

Definition at line 90 of file simple-zmp-estimator.cpp.

Member Data Documentation

◆ m_emergency_stop_triggered

bool m_emergency_stop_triggered

protected

true if the entity has been successfully initialized

Definition at line 90 of file simple-zmp-estimator.hh.

◆ m_eps

double m_eps

Definition at line 78 of file simple-zmp-estimator.hh.

◆ m_initSucceeded

bool m_initSucceeded