sot-torque-control  1.6.5
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
FreeFlyerLocator Class Reference

#include <sot/torque_control/free-flyer-locator.hh>

Inheritance diagram for FreeFlyerLocator:
Collaboration diagram for FreeFlyerLocator:

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
 

Detailed Description

Definition at line 53 of file free-flyer-locator.hh.

Constructor & Destructor Documentation

◆ FreeFlyerLocator()

FreeFlyerLocator ( const std::string &  name)

Definition at line 44 of file free-flyer-locator.cpp.

◆ ~FreeFlyerLocator()

Definition at line 74 of file free-flyer-locator.cpp.

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/2]

DECLARE_SIGNAL_IN ( base6d_encoders  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/2]

DECLARE_SIGNAL_IN ( joint_velocities  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_INNER()

DECLARE_SIGNAL_INNER ( kinematics_computations  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [1/3]

DECLARE_SIGNAL_OUT ( freeflyer_aa  ,
dynamicgraph::Vector   
)

freeflyer position with angle axis format

◆ DECLARE_SIGNAL_OUT() [2/3]

DECLARE_SIGNAL_OUT ( base6dFromFoot_encoders  ,
dynamicgraph::Vector   
)

base6d_encoders with base6d in RPY

◆ DECLARE_SIGNAL_OUT() [3/3]

DECLARE_SIGNAL_OUT ( ,
dynamicgraph::Vector   
)

n+6 robot velocities

◆ display()

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

Definition at line 266 of file free-flyer-locator.cpp.

◆ displayRobotUtil()

void displayRobotUtil ( )

Definition at line 260 of file free-flyer-locator.cpp.

◆ init()

void init ( const std::string &  robotRef)

Definition at line 79 of file free-flyer-locator.cpp.

◆ sendMsg()

void sendMsg ( const std::string &  msg,
MsgType  t = MSG_TYPE_INFO,
const char *  = "",
int  = 0 
)
inline

Definition at line 84 of file free-flyer-locator.hh.

Member Data Documentation

◆ m_data

pinocchio::Data* m_data
protected

Pinocchio robot model.

Definition at line 93 of file free-flyer-locator.hh.

◆ m_initSucceeded

bool m_initSucceeded
protected

Definition at line 91 of file free-flyer-locator.hh.

◆ m_left_foot_id

long unsigned int m_left_foot_id
protected

Definition at line 98 of file free-flyer-locator.hh.

◆ m_Mff

pinocchio::SE3 m_Mff
protected

Pinocchio robot data.

Definition at line 94 of file free-flyer-locator.hh.

◆ m_model

pinocchio::Model* m_model
protected

true if the entity has been successfully initialized

Definition at line 92 of file free-flyer-locator.hh.

◆ m_q_pin

Eigen::VectorXd m_q_pin
protected

Definition at line 100 of file free-flyer-locator.hh.

◆ m_q_sot

Eigen::VectorXd m_q_sot
protected

robot configuration according to pinocchio convention

Definition at line 101 of file free-flyer-locator.hh.

◆ m_right_foot_id

long unsigned int m_right_foot_id
protected

Definition at line 97 of file free-flyer-locator.hh.

◆ m_robot_util

RobotUtilShrPtr m_robot_util
protected

robot velocities according to SoT convention

Definition at line 106 of file free-flyer-locator.hh.

◆ m_v_pin

Eigen::VectorXd m_v_pin
protected

robot configuration according to SoT convention

Definition at line 103 of file free-flyer-locator.hh.

◆ m_v_sot

Eigen::VectorXd m_v_sot
protected

robot velocities according to pinocchio convention

Definition at line 104 of file free-flyer-locator.hh.

◆ m_w_M_lf

pinocchio::SE3 m_w_M_lf
protected

SE3 Transform from center of feet to base.

Definition at line 95 of file free-flyer-locator.hh.

◆ m_w_M_rf

pinocchio::SE3 m_w_M_rf
protected

Definition at line 96 of file free-flyer-locator.hh.


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