6 #ifndef __sot_torque_control_NumericalDifference_H__
7 #define __sot_torque_control_NumericalDifference_H__
13 #if defined(numerical_difference_EXPORTS)
14 #define SOTNUMERICALDIFFERENCE_EXPORT __declspec(dllexport)
16 #define SOTNUMERICALDIFFERENCE_EXPORT __declspec(dllimport)
19 #define SOTNUMERICALDIFFERENCE_EXPORT
30 #include <boost/circular_buffer.hpp>
31 #include <dynamic-graph/signal-helper.h>
32 #include <sot/core/matrix-geometry.hh>
34 #include <sot/core/stop-watch.hh>
48 DYNAMIC_GRAPH_ENTITY_DECL();
81 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
95 void init(
const double& timestep,
const int& sigSize,
const double& delay,
const int& polyOrder);
98 void sendMsg(
const std::string& msg, MsgType t = MSG_TYPE_INFO,
const char* =
"",
int = 0) {
99 logger_.stream(t) << (
"[" + name +
"] " + msg) <<
'\n';
103 virtual void display(std::ostream& os)
const;
void sendMsg(const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0)
DECLARE_SIGNAL_INNER(x_dx_ddx, dynamicgraph::Vector)
This signal contains the estimated positions, velocities and accelerations.
PolyEstimator * m_filter
x signal
DECLARE_SIGNAL_OUT(x_filtered, dynamicgraph::Vector)
std::vector< double > m_ddx_filter_std
DECLARE_SIGNAL_OUT(dx, dynamicgraph::Vector)
DECLARE_SIGNAL_IN(x, dynamicgraph::Vector)
DECLARE_SIGNAL_OUT(ddx, dynamicgraph::Vector)
int x_size
delay introduced by the estimation
std::vector< double > m_x_filter_std
1st derivative
double m_delay
sampling timestep of the input signal
std::vector< double > m_dx_filter_std
2nd derivative
std::vector< double > m_x_std
filtered output
#define SOTNUMERICALDIFFERENCE_EXPORT