Public Member Functions | Public Attributes | Static Public Attributes | List of all members
dynamicgraph::sot::AngleEstimator Class Reference

#include <sot/dynamic-pinocchio/angle-estimator.h>

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Public Member Functions

virtual const std::string & getClassName (void) const
 
 AngleEstimator (const std::string &name)
 
virtual ~AngleEstimator (void)
 
dynamicgraph::Vector & computeAngles (dynamicgraph::Vector &res, const int &time)
 
MatrixRotation & computeFlexibilityFromAngles (MatrixRotation &res, const int &time)
 
MatrixRotation & computeDriftFromAngles (MatrixRotation &res, const int &time)
 
MatrixRotation & computeSensorWorldRotation (MatrixRotation &res, const int &time)
 
MatrixRotation & computeWaistWorldRotation (MatrixRotation &res, const int &time)
 
MatrixHomogeneous & computeWaistWorldPosition (MatrixHomogeneous &res, const int &time)
 
dynamicgraph::Vector & computeWaistWorldPoseRPY (dynamicgraph::Vector &res, const int &time)
 
dynamicgraph::Vector & compute_xff_dotSOUT (dynamicgraph::Vector &res, const int &time)
 
dynamicgraph::Vector & compute_qdotSOUT (dynamicgraph::Vector &res, const int &time)
 
void fromSensor (const bool &fs)
 
bool fromSensor () const
 

Public Attributes

dg::SignalPtr< MatrixRotation, int > sensorWorldRotationSIN
 
dg::SignalPtr< MatrixHomogeneous, int > sensorEmbeddedPositionSIN
 
dg::SignalPtr< MatrixHomogeneous, int > contactWorldPositionSIN
 
dg::SignalPtr< MatrixHomogeneous, int > contactEmbeddedPositionSIN
 
dg::SignalTimeDependent< dynamicgraph::Vector, int > anglesSOUT
 
dg::SignalTimeDependent< MatrixRotation, int > flexibilitySOUT
 
dg::SignalTimeDependent< MatrixRotation, int > driftSOUT
 
dg::SignalTimeDependent< MatrixRotation, int > sensorWorldRotationSOUT
 
dg::SignalTimeDependent< MatrixRotation, int > waistWorldRotationSOUT
 
dg::SignalTimeDependent< MatrixHomogeneous, int > waistWorldPositionSOUT
 
dg::SignalTimeDependent< dynamicgraph::Vector, int > waistWorldPoseRPYSOUT
 
dg::SignalPtr< dynamicgraph::Matrix, int > jacobianSIN
 
dg::SignalPtr< dynamicgraph::Vector, int > qdotSIN
 
dg::SignalTimeDependent< dynamicgraph::Vector, int > xff_dotSOUT
 
dg::SignalTimeDependent< dynamicgraph::Vector, int > qdotSOUT
 

Static Public Attributes

static const std::string CLASS_NAME
 

Constructor & Destructor Documentation

◆ AngleEstimator()

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

◆ ~AngleEstimator()

virtual dynamicgraph::sot::AngleEstimator::~AngleEstimator ( void  )
virtual

Member Function Documentation

◆ compute_qdotSOUT()

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

◆ compute_xff_dotSOUT()

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

◆ computeAngles()

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

◆ computeDriftFromAngles()

MatrixRotation& dynamicgraph::sot::AngleEstimator::computeDriftFromAngles ( MatrixRotation &  res,
const int &  time 
)

◆ computeFlexibilityFromAngles()

MatrixRotation& dynamicgraph::sot::AngleEstimator::computeFlexibilityFromAngles ( MatrixRotation &  res,
const int &  time 
)

◆ computeSensorWorldRotation()

MatrixRotation& dynamicgraph::sot::AngleEstimator::computeSensorWorldRotation ( MatrixRotation &  res,
const int &  time 
)

◆ computeWaistWorldPoseRPY()

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

◆ computeWaistWorldPosition()

MatrixHomogeneous& dynamicgraph::sot::AngleEstimator::computeWaistWorldPosition ( MatrixHomogeneous &  res,
const int &  time 
)

◆ computeWaistWorldRotation()

MatrixRotation& dynamicgraph::sot::AngleEstimator::computeWaistWorldRotation ( MatrixRotation &  res,
const int &  time 
)

◆ fromSensor() [1/2]

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

◆ fromSensor() [2/2]

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

◆ getClassName()

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

Member Data Documentation

◆ anglesSOUT

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

◆ CLASS_NAME

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

◆ contactEmbeddedPositionSIN

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

◆ contactWorldPositionSIN

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

◆ driftSOUT

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

◆ flexibilitySOUT

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

◆ jacobianSIN

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

◆ qdotSIN

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

◆ qdotSOUT

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

◆ sensorEmbeddedPositionSIN

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

◆ sensorWorldRotationSIN

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

◆ sensorWorldRotationSOUT

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

◆ waistWorldPoseRPYSOUT

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

◆ waistWorldPositionSOUT

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

◆ waistWorldRotationSOUT

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

◆ xff_dotSOUT

dg::SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::AngleEstimator::xff_dotSOUT
The documentation for this class was generated from the following file: