#include <sot/talos_balance/ft-calibration.hh>
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 |
Definition at line 48 of file ft-calibration.hh.
typedef Eigen::Matrix<double, 6, 1> Vector6d |
Definition at line 81 of file ft-calibration.hh.
FtCalibration | ( | const std::string & | name | ) |
Definition at line 48 of file ft-calibration.cpp.
References FtCalibration::calibrateFeetSensor(), FtCalibration::init(), INPUT_SIGNALS, OUTPUT_SIGNALS, FtCalibration::setLeftFootWeight(), and FtCalibration::setRightFootWeight().
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 | ( | 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 |
Definition at line 192 of file ft-calibration.cpp.
void displayRobotUtil | ( | ) |
void init | ( | const std::string & | robotRef | ) |
Initialize.
Definition at line 79 of file ft-calibration.cpp.
References FtCalibration::m_initSucceeded, FtCalibration::m_left_FT_offset, FtCalibration::m_left_FT_offset_calibration_sum, FtCalibration::m_right_FT_offset, FtCalibration::m_right_FT_offset_calibration_sum, and FtCalibration::m_robot_util.
Referenced by FtCalibration::FtCalibration().
void setLeftFootWeight | ( | const double & | leftW | ) |
Definition at line 167 of file ft-calibration.cpp.
References FtCalibration::m_initSucceeded, and FtCalibration::m_left_foot_weight.
Referenced by FtCalibration::FtCalibration().
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().
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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().
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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().
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protected |
Definition at line 93 of file ft-calibration.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and FtCalibration::setLeftFootWeight().
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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().
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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().
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Definition at line 85 of file ft-calibration.hh.
Referenced by FtCalibration::calibrateFeetSensor(), and dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION().
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true if the entity has been successfully initialized
Definition at line 92 of file ft-calibration.hh.
Referenced by FtCalibration::setRightFootWeight().
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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().
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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().
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Definition at line 84 of file ft-calibration.hh.
Referenced by FtCalibration::init().