10 #ifndef __SOT_ANGLE_ESTIMATOR_H__
11 #define __SOT_ANGLE_ESTIMATOR_H__
17 #if defined(angle_estimator_EXPORTS)
18 #define SOTANGLEESTIMATOR_EXPORT __declspec(dllexport)
20 #define SOTANGLEESTIMATOR_EXPORT __declspec(dllimport)
23 #define SOTANGLEESTIMATOR_EXPORT
31 #include <dynamic-graph/linear-algebra.h>
34 #include <dynamic-graph/entity.h>
35 #include <dynamic-graph/signal-ptr.h>
36 #include <dynamic-graph/signal-time-dependent.h>
37 #include <sot/core/matrix-geometry.hh>
53 virtual const std::string&
getClassName(
void)
const {
return CLASS_NAME; }
64 dg::SignalTimeDependent<dynamicgraph::Vector, int>
anglesSOUT;
66 dg::SignalTimeDependent<MatrixRotation, int>
driftSOUT;
73 dg::SignalPtr<dynamicgraph::Vector, int>
qdotSIN;
74 dg::SignalTimeDependent<dynamicgraph::Vector, int>
xff_dotSOUT;
75 dg::SignalTimeDependent<dynamicgraph::Vector, int>
qdotSOUT;
78 dynamicgraph::Vector&
computeAngles(dynamicgraph::Vector& res,
const int& time);
#define SOTANGLEESTIMATOR_EXPORT
Definition: angle-estimator.h:23
Definition: angle-estimator.h:50
bool fromSensor() const
Definition: angle-estimator.h:90
dg::SignalTimeDependent< MatrixRotation, int > flexibilitySOUT
Definition: angle-estimator.h:65
MatrixRotation & computeDriftFromAngles(MatrixRotation &res, const int &time)
dynamicgraph::Vector & computeWaistWorldPoseRPY(dynamicgraph::Vector &res, const int &time)
dg::SignalTimeDependent< dynamicgraph::Vector, int > anglesSOUT
Definition: angle-estimator.h:64
dg::SignalPtr< MatrixHomogeneous, int > sensorEmbeddedPositionSIN
Definition: angle-estimator.h:61
dg::SignalTimeDependent< MatrixRotation, int > sensorWorldRotationSOUT
Definition: angle-estimator.h:67
dg::SignalTimeDependent< dynamicgraph::Vector, int > qdotSOUT
Definition: angle-estimator.h:75
dg::SignalPtr< MatrixHomogeneous, int > contactEmbeddedPositionSIN
Definition: angle-estimator.h:63
MatrixRotation & computeSensorWorldRotation(MatrixRotation &res, const int &time)
MatrixRotation & computeFlexibilityFromAngles(MatrixRotation &res, const int &time)
static const std::string CLASS_NAME
Definition: angle-estimator.h:52
dg::SignalTimeDependent< MatrixRotation, int > waistWorldRotationSOUT
Definition: angle-estimator.h:68
MatrixHomogeneous & computeWaistWorldPosition(MatrixHomogeneous &res, const int &time)
MatrixRotation & computeWaistWorldRotation(MatrixRotation &res, const int &time)
dg::SignalTimeDependent< dynamicgraph::Vector, int > xff_dotSOUT
Definition: angle-estimator.h:74
void fromSensor(const bool &fs)
Definition: angle-estimator.h:89
dg::SignalPtr< MatrixHomogeneous, int > contactWorldPositionSIN
Definition: angle-estimator.h:62
virtual ~AngleEstimator(void)
virtual const std::string & getClassName(void) const
Definition: angle-estimator.h:53
dg::SignalPtr< dynamicgraph::Matrix, int > jacobianSIN
Definition: angle-estimator.h:72
dg::SignalTimeDependent< dynamicgraph::Vector, int > waistWorldPoseRPYSOUT
Definition: angle-estimator.h:70
dg::SignalPtr< MatrixRotation, int > sensorWorldRotationSIN
Definition: angle-estimator.h:60
dynamicgraph::Vector & compute_qdotSOUT(dynamicgraph::Vector &res, const int &time)
AngleEstimator(const std::string &name)
dynamicgraph::Vector & compute_xff_dotSOUT(dynamicgraph::Vector &res, const int &time)
dg::SignalPtr< dynamicgraph::Vector, int > qdotSIN
Definition: angle-estimator.h:73
dynamicgraph::Vector & computeAngles(dynamicgraph::Vector &res, const int &time)
dg::SignalTimeDependent< MatrixRotation, int > driftSOUT
Definition: angle-estimator.h:66
dg::SignalTimeDependent< MatrixHomogeneous, int > waistWorldPositionSOUT
Definition: angle-estimator.h:69
Definition: angle-estimator.h:42