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 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 |