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

Inheritance diagram for dynamicgraph::sot::AngleEstimator:

Collaboration diagram for dynamicgraph::sot::AngleEstimator:

Public Member Functions
virtual const std::string &	getClassName (void) const

	AngleEstimator (const std::string &name)

virtual	~AngleEstimator (void)

ml::Vector &	computeAngles (ml::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)

ml::Vector &	computeWaistWorldPoseRPY (ml::Vector &res, const int &time)

ml::Vector &	compute_xff_dotSOUT (ml::Vector &res, const int &time)

ml::Vector &	compute_qdotSOUT (ml::Vector &res, const int &time)

void	fromSensor (const bool &fs)

bool	fromSensor () const

virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)

Public Member Functions inherited from dynamicgraph::Entity
	Entity (const std::string &name)

virtual	~Entity ()

const std::string &	getName () const

virtual std::string	getDocString () const

bool	hasSignal (const std::string &signame) const

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

std::ostream &	displaySignalList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual std::ostream &	writeCompletionList (std::ostream &os) const

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

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

const std::string &	getCommandList () const

CommandMap_t	getNewStyleCommandMap ()

command::Command *	getNewStyleCommand (const std::string &cmdName)

SignalMap	getSignalMap () 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 < ml::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 < ml::Vector, int >	waistWorldPoseRPYSOUT

dg::SignalPtr< ml::Matrix, int >	jacobianSIN

dg::SignalPtr< ml::Vector, int >	qdotSIN

dg::SignalTimeDependent < ml::Vector, int >	xff_dotSOUT

dg::SignalTimeDependent < ml::Vector, int >	qdotSOUT

Static Public Attributes
static const std::string	CLASS_NAME

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * >	SignalMap

typedef std::map< const std::string, command::Command * >	CommandMap_t

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityRegistration ()

void	entityDeregistration ()

void	signalRegistration (const SignalArray< int > &signals)

void	signalDeregistration (const std::string &name)

Protected Attributes inherited from dynamicgraph::Entity
std::string	name

SignalMap	signalMap

CommandMap_t	commandMap

Constructor & Destructor Documentation

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

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

virtual

Member Function Documentation

virtual void dynamicgraph::sot::AngleEstimator::commandLine	(	const std::string &	cmdLine,
		std::istringstream &	cmdArgs,
		std::ostream &	os
	)

virtual

Reimplemented from dynamicgraph::Entity.

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

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

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

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

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

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

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

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

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

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

inline

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

inline

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

inlinevirtual

Implements dynamicgraph::Entity.

Member Data Documentation

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

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

static

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

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

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

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

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

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

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

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

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

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

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

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

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

dg::SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::AngleEstimator::xff_dotSOUT

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation