dynamicgraph::sot::AngleEstimator Class Reference

#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::VectorcomputeAngles (ml::Vector &res, const int &time)
 
MatrixRotationcomputeFlexibilityFromAngles (MatrixRotation &res, const int &time)
 
MatrixRotationcomputeDriftFromAngles (MatrixRotation &res, const int &time)
 
MatrixRotationcomputeSensorWorldRotation (MatrixRotation &res, const int &time)
 
MatrixRotationcomputeWaistWorldRotation (MatrixRotation &res, const int &time)
 
MatrixHomogeneouscomputeWaistWorldPosition (MatrixHomogeneous &res, const int &time)
 
ml::VectorcomputeWaistWorldPoseRPY (ml::Vector &res, const int &time)
 
ml::Vectorcompute_xff_dotSOUT (ml::Vector &res, const int &time)
 
ml::Vectorcompute_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::CommandgetNewStyleCommand (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

◆ AngleEstimator()

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

◆ ~AngleEstimator()

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

Member Function Documentation

◆ commandLine()

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

Reimplemented from dynamicgraph::Entity.

◆ compute_qdotSOUT()

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

◆ compute_xff_dotSOUT()

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

◆ computeAngles()

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

ml::Vector& dynamicgraph::sot::AngleEstimator::computeWaistWorldPoseRPY ( ml::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]

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

◆ fromSensor() [2/2]

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

◆ getClassName()

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

Implements dynamicgraph::Entity.

Member Data Documentation

◆ anglesSOUT

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

◆ qdotSIN

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

◆ qdotSOUT

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