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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_ANGLE_ESTIMATOR_H__ |
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#define __SOT_ANGLE_ESTIMATOR_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(angle_estimator_EXPORTS) |
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#define SOTANGLEESTIMATOR_EXPORT __declspec(dllexport) |
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#else |
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#define SOTANGLEESTIMATOR_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTANGLEESTIMATOR_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* Matrix */ |
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#include <dynamic-graph/linear-algebra.h> |
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/* SOT */ |
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#include <dynamic-graph/entity.h> |
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#include <dynamic-graph/signal-ptr.h> |
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#include <dynamic-graph/signal-time-dependent.h> |
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#include <sot/core/matrix-geometry.hh> |
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/* STD */ |
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#include <string> |
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namespace dynamicgraph { |
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namespace sot { |
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namespace dg = dynamicgraph; |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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class SOTANGLEESTIMATOR_EXPORT AngleEstimator : public dg::Entity { |
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public: |
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static const std::string CLASS_NAME; |
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virtual const std::string& getClassName(void) const { return CLASS_NAME; } |
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public: /* --- CONSTRUCTION --- */ |
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AngleEstimator(const std::string& name); |
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virtual ~AngleEstimator(void); |
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public: /* --- SIGNAL --- */ |
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dg::SignalPtr<MatrixRotation, int> |
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sensorWorldRotationSIN; // estimate(worldRc) |
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dg::SignalPtr<MatrixHomogeneous, int> |
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sensorEmbeddedPositionSIN; // waistRchest |
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dg::SignalPtr<MatrixHomogeneous, int> |
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contactWorldPositionSIN; // estimate(worldRf) |
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dg::SignalPtr<MatrixHomogeneous, int> |
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contactEmbeddedPositionSIN; // waistRleg |
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dg::SignalTimeDependent<dynamicgraph::Vector, int> |
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anglesSOUT; // [ flex1 flex2 yaw_drift ] |
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dg::SignalTimeDependent<MatrixRotation, int> flexibilitySOUT; // footRleg |
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dg::SignalTimeDependent<MatrixRotation, int> |
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driftSOUT; // Ryaw = worldRc est(wRc)^-1 |
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dg::SignalTimeDependent<MatrixRotation, int> |
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sensorWorldRotationSOUT; // worldRc |
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dg::SignalTimeDependent<MatrixRotation, int> |
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waistWorldRotationSOUT; // worldRwaist |
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dg::SignalTimeDependent<MatrixHomogeneous, int> |
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waistWorldPositionSOUT; // worldMwaist |
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dg::SignalTimeDependent<dynamicgraph::Vector, int> |
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waistWorldPoseRPYSOUT; // worldMwaist |
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dg::SignalPtr<dynamicgraph::Matrix, int> jacobianSIN; |
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dg::SignalPtr<dynamicgraph::Vector, int> qdotSIN; |
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dg::SignalTimeDependent<dynamicgraph::Vector, int> xff_dotSOUT; |
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dg::SignalTimeDependent<dynamicgraph::Vector, int> qdotSOUT; |
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public: /* --- FUNCTIONS --- */ |
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dynamicgraph::Vector& computeAngles(dynamicgraph::Vector& res, |
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const int& time); |
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MatrixRotation& computeFlexibilityFromAngles(MatrixRotation& res, |
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const int& time); |
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MatrixRotation& computeDriftFromAngles(MatrixRotation& res, const int& time); |
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MatrixRotation& computeSensorWorldRotation(MatrixRotation& res, |
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const int& time); |
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MatrixRotation& computeWaistWorldRotation(MatrixRotation& res, |
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const int& time); |
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MatrixHomogeneous& computeWaistWorldPosition(MatrixHomogeneous& res, |
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const int& time); |
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dynamicgraph::Vector& computeWaistWorldPoseRPY(dynamicgraph::Vector& res, |
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const int& time); |
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dynamicgraph::Vector& compute_xff_dotSOUT(dynamicgraph::Vector& res, |
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const int& time); |
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dynamicgraph::Vector& compute_qdotSOUT(dynamicgraph::Vector& res, |
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const int& time); |
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public: /* --- PARAMS --- */ |
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void fromSensor(const bool& fs) { fromSensor_ = fs; } |
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bool fromSensor() const { return fromSensor_; } |
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private: |
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bool fromSensor_; |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_ANGLE_ESTIMATOR_H__ |