#include <sot/talos_balance/dcm-estimator.hh>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | DcmEstimator (const std::string &name) |
DECLARE_SIGNAL_IN (q, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (v, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (c, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (dc, dynamicgraph::Vector) | |
virtual void | display (std::ostream &os) const |
void | init (const double &dt, const std::string &urdfFile) |
Protected Attributes | |
pinocchio::Data | m_data |
double | m_dt |
robot velocities according to pinocchio convention More... | |
bool | m_initSucceeded |
pinocchio::Model | m_model |
sampling time step More... | |
Eigen::VectorXd | m_q_pin |
Pinocchio robot data. More... | |
RobotUtilShrPtr | m_robot_util |
true if the entity has been successfully initialized More... | |
Eigen::VectorXd | m_v_pin |
robot configuration according to pinocchio convention More... | |
Definition at line 55 of file dcm-estimator.hh.
DcmEstimator | ( | const std::string & | name | ) |
Definition at line 48 of file dcm-estimator.cpp.
References DcmEstimator::init(), INPUT_SIGNALS, and OUTPUT_SIGNALS.
DECLARE_SIGNAL_IN | ( | q | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | v | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | c | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | dc | , |
dynamicgraph::Vector | |||
) |
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virtual |
Definition at line 130 of file dcm-estimator.cpp.
void init | ( | const double & | dt, |
const std::string & | urdfFile | ||
) |
Definition at line 65 of file dcm-estimator.cpp.
References DcmEstimator::m_data, DcmEstimator::m_dt, DcmEstimator::m_initSucceeded, DcmEstimator::m_model, and DcmEstimator::m_robot_util.
Referenced by DcmEstimator::DcmEstimator().
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protected |
Definition at line 90 of file dcm-estimator.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and DcmEstimator::init().
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protected |
robot velocities according to pinocchio convention
Definition at line 93 of file dcm-estimator.hh.
Referenced by DcmEstimator::init().
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protected |
Definition at line 88 of file dcm-estimator.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and DcmEstimator::init().
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protected |
sampling time step
Definition at line 94 of file dcm-estimator.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and DcmEstimator::init().
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protected |
Pinocchio robot data.
Definition at line 91 of file dcm-estimator.hh.
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protected |
true if the entity has been successfully initialized
Definition at line 89 of file dcm-estimator.hh.
Referenced by DcmEstimator::init().
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protected |
robot configuration according to pinocchio convention
Definition at line 92 of file dcm-estimator.hh.