10 #ifndef __sot_talos_balance_dcm_estimator_H__ 11 #define __sot_talos_balance_dcm_estimator_H__ 18 # if defined (dcm_estimator_EXPORTS) 19 # define DCMESTIMATOR_EXPORT __declspec(dllexport) 21 # define DCMESTIMATOR_EXPORT __declspec(dllimport) 24 # define DCMESTIMATOR_EXPORT 32 #include <dynamic-graph/signal-helper.h> 33 #include <sot/core/matrix-geometry.hh> 35 #include "boost/assign.hpp" 36 #include <boost/math/distributions/normal.hpp> 39 #include <pinocchio/multibody/model.hpp> 40 #include <pinocchio/parsers/urdf.hpp> 41 #include <pinocchio/algorithm/kinematics.hpp> 42 #include <sot/core/robot-utils.hh> 48 namespace talos_balance
56 : public::dynamicgraph::Entity
58 typedef pinocchio::SE3 SE3;
59 typedef Eigen::Vector2d Vector2;
60 typedef Eigen::Vector3d
Vector3;
61 typedef Eigen::Vector4d Vector4;
63 typedef Vector7d Vector7;
64 typedef Eigen::Matrix3d Matrix3;
65 typedef boost::math::normal normal;
67 DYNAMIC_GRAPH_ENTITY_DECL();
70 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
75 void init(
const double & dt,
const std::string& urdfFile);
85 virtual void display( std::ostream& os )
const;
104 #endif // #ifndef __sot_talos_balance_dcm_estimator_H__
Eigen::Matrix< Scalar, 3, 1 > Vector3
#define DCMESTIMATOR_EXPORT
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Eigen::VectorXd m_q_pin
Pinocchio robot data.
Eigen::VectorXd m_v_pin
robot configuration according to pinocchio convention
double m_dt
robot velocities according to pinocchio convention
RobotUtilShrPtr m_robot_util
true if the entity has been successfully initialized
Eigen::Matrix< Scalar, 6, 1 > Vector6
pinocchio::Model m_model
sampling time step