sot-talos-balance  1.5.0
FtCalibration Class Reference

#include <sot/talos_balance/ft-calibration.hh>

Inheritance diagram for FtCalibration:
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Collaboration diagram for FtCalibration:
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Public Types

typedef Eigen::Matrix< double, 6, 1 > Vector6d
 

Public Member Functions

 FtCalibration (const std::string &name)
 
void calibrateFeetSensor ()
 Command to calibrate the foot sensors when the robot is standing in the air with horizontal feet. More...
 
 DECLARE_SIGNAL_IN (right_foot_force_in, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (left_foot_force_in, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (right_foot_force_out, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (left_foot_force_out, dynamicgraph::Vector)
 
virtual void display (std::ostream &os) const
 
void displayRobotUtil ()
 
void init (const std::string &robotRef)
 Initialize. More...
 
void setLeftFootWeight (const double &leftW)
 
void setRightFootWeight (const double &rightW)
 Commands for setting the feet weight. More...
 

Protected Attributes

bool m_initSucceeded
 Variable used durring average computation of the offset. More...
 
int m_left_calibration_iter = -1
 Number of iteration left for calibration (-1= not cailbrated, 0=caibration done) More...
 
Vector6d m_left_foot_weight
 
Vector6d m_left_FT_offset
 Offset or bias to be removed from Right FT sensor. More...
 
Vector6d m_left_FT_offset_calibration_sum
 Variable used durring average computation of the offset. More...
 
int m_right_calibration_iter = -1
 
Vector6d m_right_foot_weight
 true if the entity has been successfully initialized More...
 
Vector6d m_right_FT_offset
 Number of iteration left for calibration (-1= not cailbrated, 0=caibration done) More...
 
Vector6d m_right_FT_offset_calibration_sum
 Offset or bias to be removed from Left FT sensor. More...
 
RobotUtilShrPtr m_robot_util
 

Detailed Description

Definition at line 48 of file ft-calibration.hh.

Member Typedef Documentation

◆ Vector6d

typedef Eigen::Matrix<double, 6, 1> Vector6d

Definition at line 81 of file ft-calibration.hh.

Constructor & Destructor Documentation

◆ FtCalibration()

Member Function Documentation

◆ calibrateFeetSensor()

void calibrateFeetSensor ( )

Command to calibrate the foot sensors when the robot is standing in the air with horizontal feet.

Definition at line 177 of file ft-calibration.cpp.

References CALIB_ITER_TIME, FtCalibration::m_left_calibration_iter, FtCalibration::m_left_FT_offset_calibration_sum, FtCalibration::m_right_calibration_iter, and FtCalibration::m_right_FT_offset_calibration_sum.

Referenced by FtCalibration::FtCalibration().

◆ DECLARE_SIGNAL_IN() [1/2]

DECLARE_SIGNAL_IN ( right_foot_force_in  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/2]

DECLARE_SIGNAL_IN ( left_foot_force_in  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [1/2]

DECLARE_SIGNAL_OUT ( right_foot_force_out  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT() [2/2]

DECLARE_SIGNAL_OUT ( left_foot_force_out  ,
dynamicgraph::Vector   
)

◆ display()

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

Definition at line 192 of file ft-calibration.cpp.

◆ displayRobotUtil()

void displayRobotUtil ( )

◆ init()

◆ setLeftFootWeight()

void setLeftFootWeight ( const double &  leftW)

◆ setRightFootWeight()

void setRightFootWeight ( const double &  rightW)

Commands for setting the feet weight.

Definition at line 157 of file ft-calibration.cpp.

References FtCalibration::m_initSucceeded, and FtCalibration::m_right_foot_weight.

Referenced by FtCalibration::FtCalibration().

Member Data Documentation

◆ m_initSucceeded

bool m_initSucceeded
protected

Variable used durring average computation of the offset.

Definition at line 91 of file ft-calibration.hh.

Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), FtCalibration::init(), FtCalibration::setLeftFootWeight(), and FtCalibration::setRightFootWeight().

◆ m_left_calibration_iter

int m_left_calibration_iter = -1
protected

Number of iteration left for calibration (-1= not cailbrated, 0=caibration done)

Definition at line 86 of file ft-calibration.hh.

Referenced by FtCalibration::calibrateFeetSensor(), and dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION().

◆ m_left_foot_weight

Vector6d m_left_foot_weight
protected

◆ m_left_FT_offset

Vector6d m_left_FT_offset
protected

Offset or bias to be removed from Right FT sensor.

Definition at line 88 of file ft-calibration.hh.

Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and FtCalibration::init().

◆ m_left_FT_offset_calibration_sum

Vector6d m_left_FT_offset_calibration_sum
protected

Variable used durring average computation of the offset.

Definition at line 90 of file ft-calibration.hh.

Referenced by FtCalibration::calibrateFeetSensor(), dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and FtCalibration::init().

◆ m_right_calibration_iter

int m_right_calibration_iter = -1
protected

◆ m_right_foot_weight

Vector6d m_right_foot_weight
protected

true if the entity has been successfully initialized

Definition at line 92 of file ft-calibration.hh.

Referenced by FtCalibration::setRightFootWeight().

◆ m_right_FT_offset

Vector6d m_right_FT_offset
protected

Number of iteration left for calibration (-1= not cailbrated, 0=caibration done)

Definition at line 87 of file ft-calibration.hh.

Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and FtCalibration::init().

◆ m_right_FT_offset_calibration_sum

Vector6d m_right_FT_offset_calibration_sum
protected

Offset or bias to be removed from Left FT sensor.

Definition at line 89 of file ft-calibration.hh.

Referenced by FtCalibration::calibrateFeetSensor(), dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and FtCalibration::init().

◆ m_robot_util

RobotUtilShrPtr m_robot_util
protected

Definition at line 84 of file ft-calibration.hh.

Referenced by FtCalibration::init().


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