#include <sot/torque_control/torque-offset-estimator.hh>
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typedef std::vector< Eigen::VectorXd, Eigen::aligned_allocator< Eigen::VectorXd > > | stdAlignedVector |
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| TorqueOffsetEstimator (const std::string &name) |
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void | computeOffset (const int &nIterations, const double &epsilon) |
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| DECLARE_SIGNAL_IN (accelerometer, dynamicgraph::Vector) |
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| DECLARE_SIGNAL_IN (base6d_encoders, dynamicgraph::Vector) |
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| DECLARE_SIGNAL_IN (gyroscope, dynamicgraph::Vector) |
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| DECLARE_SIGNAL_IN (jointTorques, dynamicgraph::Vector) |
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| DECLARE_SIGNAL_INNER (collectSensorData, dummy) |
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| DECLARE_SIGNAL_OUT (jointTorquesEstimated, dynamicgraph::Vector) |
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virtual void | display (std::ostream &os) const |
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void | init (const std::string &urdfFile, const Eigen::Matrix4d &_m_torso_X_imu, const double &gyro_epsilon, const std::string &ffJointName, const std::string &torsoJointName) |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef int | dummy |
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void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0) |
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Definition at line 52 of file torque-offset-estimator.hh.
◆ stdAlignedVector
typedef std::vector<Eigen::VectorXd, Eigen::aligned_allocator<Eigen::VectorXd> > stdAlignedVector |
◆ TorqueOffsetEstimator()
◆ computeOffset()
void computeOffset |
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const int & |
nIterations, |
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const double & |
epsilon |
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) |
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◆ DECLARE_SIGNAL_IN() [1/4]
DECLARE_SIGNAL_IN |
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accelerometer |
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dynamicgraph::Vector |
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) |
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◆ DECLARE_SIGNAL_IN() [2/4]
DECLARE_SIGNAL_IN |
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base6d_encoders |
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dynamicgraph::Vector |
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) |
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◆ DECLARE_SIGNAL_IN() [3/4]
DECLARE_SIGNAL_IN |
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gyroscope |
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dynamicgraph::Vector |
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) |
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◆ DECLARE_SIGNAL_IN() [4/4]
DECLARE_SIGNAL_IN |
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jointTorques |
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dynamicgraph::Vector |
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) |
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◆ DECLARE_SIGNAL_INNER()
DECLARE_SIGNAL_INNER |
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collectSensorData |
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dummy |
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) |
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◆ DECLARE_SIGNAL_OUT()
DECLARE_SIGNAL_OUT |
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jointTorquesEstimated |
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dynamicgraph::Vector |
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) |
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◆ display()
void display |
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std::ostream & |
os | ) |
const |
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virtual |
◆ init()
void init |
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const std::string & |
urdfFile, |
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const Eigen::Matrix4d & |
_m_torso_X_imu, |
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const double & |
gyro_epsilon, |
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const std::string & |
ffJointName, |
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const std::string & |
torsoJointName |
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) |
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◆ sendMsg()
void sendMsg |
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const std::string & |
msg, |
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MsgType |
t = MSG_TYPE_INFO , |
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const char * |
= "" , |
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int |
= 0 |
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) |
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inlineprotected |
◆ dummy
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef int dummy |
◆ epsilon
◆ ffIndex
pinocchio::JointIndex ffIndex |
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protected |
◆ gyro_epsilon
◆ jointTorqueOffsets
Eigen::VectorXd jointTorqueOffsets |
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protected |
◆ m_data
◆ m_model
◆ m_robot_util
RobotUtilShrPtr m_robot_util |
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protected |
◆ m_torso_X_imu
pinocchio::SE3 m_torso_X_imu |
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protected |
◆ n_iterations
◆ torsoIndex
pinocchio::JointIndex torsoIndex |
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protected |
The documentation for this class was generated from the following files: