#include <sot/torque_control/free-flyer-locator.hh>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | FreeFlyerLocator (const std::string &name) |
~FreeFlyerLocator () | |
DECLARE_SIGNAL_IN (base6d_encoders, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (joint_velocities, dynamicgraph::Vector) | |
DECLARE_SIGNAL_INNER (kinematics_computations, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (freeflyer_aa, dynamicgraph::Vector) | |
freeflyer position with angle axis format More... | |
DECLARE_SIGNAL_OUT (base6dFromFoot_encoders, dynamicgraph::Vector) | |
base6d_encoders with base6d in RPY More... | |
DECLARE_SIGNAL_OUT (v, dynamicgraph::Vector) | |
n+6 robot velocities More... | |
virtual void | display (std::ostream &os) const |
void | displayRobotUtil () |
void | init (const std::string &robotRef) |
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0) |
Protected Attributes | |
pinocchio::Data * | m_data |
Pinocchio robot model. More... | |
bool | m_initSucceeded |
long unsigned int | m_left_foot_id |
pinocchio::SE3 | m_Mff |
Pinocchio robot data. More... | |
pinocchio::Model * | m_model |
true if the entity has been successfully initialized More... | |
Eigen::VectorXd | m_q_pin |
Eigen::VectorXd | m_q_sot |
robot configuration according to pinocchio convention More... | |
long unsigned int | m_right_foot_id |
RobotUtilShrPtr | m_robot_util |
robot velocities according to SoT convention More... | |
Eigen::VectorXd | m_v_pin |
robot configuration according to SoT convention More... | |
Eigen::VectorXd | m_v_sot |
robot velocities according to pinocchio convention More... | |
pinocchio::SE3 | m_w_M_lf |
SE3 Transform from center of feet to base. More... | |
pinocchio::SE3 | m_w_M_rf |
Definition at line 51 of file free-flyer-locator.hh.
FreeFlyerLocator | ( | const std::string & | name | ) |
Definition at line 41 of file free-flyer-locator.cpp.
~FreeFlyerLocator | ( | ) |
Definition at line 64 of file free-flyer-locator.cpp.
DECLARE_SIGNAL_IN | ( | base6d_encoders | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | joint_velocities | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_INNER | ( | kinematics_computations | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | freeflyer_aa | , |
dynamicgraph::Vector | |||
) |
freeflyer position with angle axis format
DECLARE_SIGNAL_OUT | ( | base6dFromFoot_encoders | , |
dynamicgraph::Vector | |||
) |
base6d_encoders with base6d in RPY
DECLARE_SIGNAL_OUT | ( | v | , |
dynamicgraph::Vector | |||
) |
n+6 robot velocities
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virtual |
Definition at line 231 of file free-flyer-locator.cpp.
void displayRobotUtil | ( | ) |
Definition at line 225 of file free-flyer-locator.cpp.
void init | ( | const std::string & | robotRef | ) |
Definition at line 69 of file free-flyer-locator.cpp.
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inline |
Definition at line 81 of file free-flyer-locator.hh.
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protected |
Pinocchio robot model.
Definition at line 88 of file free-flyer-locator.hh.
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protected |
Definition at line 86 of file free-flyer-locator.hh.
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protected |
Definition at line 93 of file free-flyer-locator.hh.
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protected |
Pinocchio robot data.
Definition at line 89 of file free-flyer-locator.hh.
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protected |
true if the entity has been successfully initialized
Definition at line 87 of file free-flyer-locator.hh.
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protected |
Definition at line 94 of file free-flyer-locator.hh.
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robot configuration according to pinocchio convention
Definition at line 95 of file free-flyer-locator.hh.
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protected |
Definition at line 92 of file free-flyer-locator.hh.
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protected |
robot velocities according to SoT convention
Definition at line 99 of file free-flyer-locator.hh.
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protected |
robot configuration according to SoT convention
Definition at line 96 of file free-flyer-locator.hh.
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protected |
robot velocities according to pinocchio convention
Definition at line 97 of file free-flyer-locator.hh.
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protected |
SE3 Transform from center of feet to base.
Definition at line 90 of file free-flyer-locator.hh.
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protected |
Definition at line 91 of file free-flyer-locator.hh.