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dynamicgraph::sot::AngleEstimator Class Reference

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

Inheritance diagram for dynamicgraph::sot::AngleEstimator:
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Collaboration diagram for dynamicgraph::sot::AngleEstimator:
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Public Member Functions

virtual const std::string & getClassName (void) const
 
 AngleEstimator (const std::string &name)
 
virtual ~AngleEstimator (void)
 
dynamicgraph::VectorcomputeAngles (dynamicgraph::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)
 
dynamicgraph::VectorcomputeWaistWorldPoseRPY (dynamicgraph::Vector &res, const int &time)
 
dynamicgraph::Vectorcompute_xff_dotSOUT (dynamicgraph::Vector &res, const int &time)
 
dynamicgraph::Vectorcompute_qdotSOUT (dynamicgraph::Vector &res, const int &time)
 
void fromSensor (const bool &fs)
 
bool fromSensor () const
 
- 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
 
void sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
 
void setLoggerVerbosityLevel (LoggerVerbosity lv)
 
LoggerVerbosity getLoggerVerbosityLevel ()
 
bool setTimeSample (double t)
 
double getTimeSample ()
 
bool setStreamPrintPeriod (double t)
 
double getStreamPrintPeriod ()
 

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
 

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
 
Logger logger_
 

Constructor & Destructor Documentation

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

Member Function Documentation

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
inlinevirtual

Reimplemented from 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