dynamicgraph::sot::AngleEstimator Class Reference

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

Inheritance diagram for dynamicgraph::sot::AngleEstimator:

Collaboration diagram for dynamicgraph::sot::AngleEstimator:

List of all members.

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
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 < 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

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.

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

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

dynamicgraph::Vector& dynamicgraph::sot::AngleEstimator::computeAngles	(	dynamicgraph::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
	)

dynamicgraph::Vector& dynamicgraph::sot::AngleEstimator::computeWaistWorldPoseRPY	(	dynamicgraph::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 [inline, virtual]

Implements dynamicgraph::Entity.

---

Member Data Documentation

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

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

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

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

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

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