BaseEstimator(const std::string &name) | BaseEstimator | |
compute_force_weight(double fz, double std_dev, double margin) | BaseEstimator | |
compute_zmp(const Vector6 &w, Vector2 &zmp) | BaseEstimator | |
compute_zmp_weight(const Vector2 &zmp, const Vector4 &foot_sizes, double std_dev, double margin) | BaseEstimator | |
DECLARE_SIGNAL_IN(joint_positions, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_IN(joint_velocities, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_IN(imu_quaternion, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_IN(forceLLEG, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_IN(forceRLEG, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_IN(dforceLLEG, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_IN(dforceRLEG, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_IN(w_lf_in, double) | BaseEstimator | |
DECLARE_SIGNAL_IN(w_rf_in, double) | BaseEstimator | |
DECLARE_SIGNAL_IN(K_fb_feet_poses, double) | BaseEstimator | |
DECLARE_SIGNAL_IN(lf_ref_xyzquat, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_IN(rf_ref_xyzquat, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_IN(accelerometer, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_IN(gyroscope, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_INNER(kinematics_computations, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(q, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(v, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(v_kin, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(v_flex, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(v_imu, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(v_gyr, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(lf_xyzquat, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(rf_xyzquat, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(a_ac, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(v_ac, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(q_lf, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(q_rf, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(q_imu, dynamicgraph::Vector) | BaseEstimator | |
DECLARE_SIGNAL_OUT(w_lf, double) | BaseEstimator | |
DECLARE_SIGNAL_OUT(w_rf, double) | BaseEstimator | |
DECLARE_SIGNAL_OUT(w_lf_filtered, double) | BaseEstimator | |
DECLARE_SIGNAL_OUT(w_rf_filtered, double) | BaseEstimator | |
display(std::ostream &os) const | BaseEstimator | virtual |
init(const double &dt, const std::string &urdfFile) | BaseEstimator | |
kinematics_estimation(const Vector6 &ft, const Vector6 &K, const SE3 &oMfs, const int foot_id, SE3 &oMff, SE3 &oMfa, SE3 &fsMff) | BaseEstimator | |
m_a_ac | BaseEstimator | protected |
m_alpha_DC_acc | BaseEstimator | protected |
m_alpha_DC_vel | BaseEstimator | protected |
m_alpha_w_filter | BaseEstimator | protected |
m_data | BaseEstimator | protected |
m_dt | BaseEstimator | protected |
m_fz_margin_lf | BaseEstimator | protected |
m_fz_margin_rf | BaseEstimator | protected |
m_fz_stable_windows_size | BaseEstimator | protected |
m_fz_std_dev_lf | BaseEstimator | protected |
m_fz_std_dev_rf | BaseEstimator | protected |
m_IMU_body_id | BaseEstimator | protected |
m_initSucceeded | BaseEstimator | protected |
m_isFirstIterFlag | BaseEstimator | protected |
m_K_lf | BaseEstimator | protected |
m_K_rf | BaseEstimator | protected |
m_last_DCacc | BaseEstimator | protected |
m_last_DCvel | BaseEstimator | protected |
m_last_vel | BaseEstimator | protected |
m_left_foot_id | BaseEstimator | protected |
m_left_foot_is_stable | BaseEstimator | protected |
m_left_foot_sizes | BaseEstimator | protected |
m_lf_fz_stable_cpt | BaseEstimator | protected |
m_model | BaseEstimator | protected |
m_normal | BaseEstimator | protected |
m_oMff_lf | BaseEstimator | protected |
m_oMff_rf | BaseEstimator | protected |
m_oMlfs | BaseEstimator | protected |
m_oMlfs_default_ref | BaseEstimator | protected |
m_oMlfs_xyzquat | BaseEstimator | protected |
m_oMrfs | BaseEstimator | protected |
m_oMrfs_default_ref | BaseEstimator | protected |
m_oMrfs_xyzquat | BaseEstimator | protected |
m_oRchest | BaseEstimator | protected |
m_oRff | BaseEstimator | protected |
m_q_pin | BaseEstimator | protected |
m_q_sot | BaseEstimator | protected |
m_reset_foot_pos | BaseEstimator | protected |
m_rf_fz_stable_cpt | BaseEstimator | protected |
m_right_foot_id | BaseEstimator | protected |
m_right_foot_is_stable | BaseEstimator | protected |
m_right_foot_sizes | BaseEstimator | protected |
m_robot_util | BaseEstimator | protected |
m_sole_M_ftSens | BaseEstimator | protected |
m_v_ac | BaseEstimator | protected |
m_v_flex | BaseEstimator | protected |
m_v_gyr | BaseEstimator | protected |
m_v_imu | BaseEstimator | protected |
m_v_kin | BaseEstimator | protected |
m_v_pin | BaseEstimator | protected |
m_v_sot | BaseEstimator | protected |
m_w_imu | BaseEstimator | protected |
m_w_lf_filtered | BaseEstimator | protected |
m_w_rf_filtered | BaseEstimator | protected |
m_zmp_margin_lf | BaseEstimator | protected |
m_zmp_margin_rf | BaseEstimator | protected |
m_zmp_std_dev_lf | BaseEstimator | protected |
m_zmp_std_dev_rf | BaseEstimator | protected |
reset_foot_positions() | BaseEstimator | |
reset_foot_positions_impl(const Vector6 &ftlf, const Vector6 &ftrf) | BaseEstimator | |
sendMsg(const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0) | BaseEstimator | inline |
set_alpha_DC_acc(const double &a) | BaseEstimator | |
set_alpha_DC_vel(const double &a) | BaseEstimator | |
set_alpha_w_filter(const double &a) | BaseEstimator | |
set_fz_stable_windows_size(const int &ws) | BaseEstimator | |
set_imu_weight(const double &w) | BaseEstimator | |
set_left_foot_sizes(const dynamicgraph::Vector &s) | BaseEstimator | |
set_normal_force_margin_left_foot(const double &margin) | BaseEstimator | |
set_normal_force_margin_right_foot(const double &margin) | BaseEstimator | |
set_normal_force_std_dev_left_foot(const double &std_dev) | BaseEstimator | |
set_normal_force_std_dev_right_foot(const double &std_dev) | BaseEstimator | |
set_right_foot_sizes(const dynamicgraph::Vector &s) | BaseEstimator | |
set_stiffness_left_foot(const dynamicgraph::Vector &k) | BaseEstimator | |
set_stiffness_right_foot(const dynamicgraph::Vector &k) | BaseEstimator | |
set_zmp_margin_left_foot(const double &margin) | BaseEstimator | |
set_zmp_margin_right_foot(const double &margin) | BaseEstimator | |
set_zmp_std_dev_left_foot(const double &std_dev) | BaseEstimator | |
set_zmp_std_dev_right_foot(const double &std_dev) | BaseEstimator | |