sot-talos-balance  1.7.0
SimpleZmpEstimator Class Reference

#include <sot/talos_balance/simple-zmp-estimator.hh>

Inheritance diagram for SimpleZmpEstimator:
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Collaboration diagram for SimpleZmpEstimator:
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Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW SimpleZmpEstimator (const std::string &name, const double &eps=1.0)
 
Eigen::Vector3d computeCoP (const dynamicgraph::Vector &wrench, const MatrixHomogeneous &pose) const
 
 DECLARE_SIGNAL_IN (wrenchLeft, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (wrenchRight, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (poseLeft, MatrixHomogeneous)
 
 DECLARE_SIGNAL_IN (poseRight, MatrixHomogeneous)
 
 DECLARE_SIGNAL_OUT (copLeft, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (copRight, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (zmp, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (emergencyStop, bool)
 
virtual void display (std::ostream &os) const
 
void init ()
 

Public Attributes

double m_eps
 

Protected Attributes

bool m_emergency_stop_triggered
 true if the entity has been successfully initialized More...
 
bool m_initSucceeded
 

Detailed Description

Definition at line 53 of file simple-zmp-estimator.hh.

Constructor & Destructor Documentation

◆ SimpleZmpEstimator()

SimpleZmpEstimator ( const std::string &  name,
const double &  eps = 1.0 
)

Member Function Documentation

◆ computeCoP()

Eigen::Vector3d computeCoP ( const dynamicgraph::Vector &  wrench,
const MatrixHomogeneous &  pose 
) const

◆ DECLARE_SIGNAL_IN() [1/4]

DECLARE_SIGNAL_IN ( wrenchLeft  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/4]

DECLARE_SIGNAL_IN ( wrenchRight  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [3/4]

DECLARE_SIGNAL_IN ( poseLeft  ,
MatrixHomogeneous   
)

◆ DECLARE_SIGNAL_IN() [4/4]

DECLARE_SIGNAL_IN ( poseRight  ,
MatrixHomogeneous   
)

◆ DECLARE_SIGNAL_OUT() [1/4]

DECLARE_SIGNAL_OUT ( copLeft  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [2/4]

DECLARE_SIGNAL_OUT ( copRight  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [3/4]

DECLARE_SIGNAL_OUT ( zmp  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [4/4]

DECLARE_SIGNAL_OUT ( emergencyStop  ,
bool   
)

◆ display()

void display ( std::ostream &  os) const
virtual

Definition at line 245 of file simple-zmp-estimator.cpp.

◆ init()

void init ( )

Member Data Documentation

◆ m_emergency_stop_triggered

bool m_emergency_stop_triggered
protected

true if the entity has been successfully initialized

Definition at line 88 of file simple-zmp-estimator.hh.

Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION().

◆ m_eps

◆ m_initSucceeded


The documentation for this class was generated from the following files: