#include <sot/talos_balance/talos-base-estimator.hh>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/all-commands.h>
#include <sot/core/stop-watch.hh>
#include "pinocchio/algorithm/frames.hpp"
Go to the source code of this file.
Namespaces | |
dynamicgraph | |
dynamicgraph::sot | |
dynamicgraph::sot::talos_balance | |
Macros | |
#define | INPUT_SIGNALS |
#define | OUTPUT_SIGNALS |
#define | PROFILE_BASE_KINEMATICS_COMPUTATION "base-est kinematics computation" |
#define | PROFILE_BASE_POSITION_ESTIMATION "base-est position estimation" |
#define | PROFILE_BASE_VELOCITY_ESTIMATION "base-est velocity estimation" |
Functions | |
DEFINE_SIGNAL_INNER_FUNCTION (kinematics_computations, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (q, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (v, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (lf_xyzquat, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (rf_xyzquat, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (q_lf, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (q_rf, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (q_imu, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (w_lf, double) | |
DEFINE_SIGNAL_OUT_FUNCTION (w_rf, double) | |
DEFINE_SIGNAL_OUT_FUNCTION (w_rf_filtered, double) | |
DEFINE_SIGNAL_OUT_FUNCTION (w_lf_filtered, double) | |
DEFINE_SIGNAL_OUT_FUNCTION (v_kin, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (v_flex, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (v_imu, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (v_gyr, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (v_ac, dynamicgraph::Vector) | |
DEFINE_SIGNAL_OUT_FUNCTION (a_ac, dynamicgraph::Vector) | |
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (TalosBaseEstimator, "TalosBaseEstimator") | |
double | eulerMean (double a1, double a2) |
void | matrixToRpy (const Eigen::Matrix3d &M, Eigen::Vector3d &rpy) |
void | pointRotationByQuaternion (const Eigen::Vector3d &point, const Eigen::Vector4d &quat, Eigen::Vector3d &rotatedPoint) |
void | quanternionMult (const Eigen::Vector4d &q1, const Eigen::Vector4d &q2, Eigen::Vector4d &q12) |
void | rpyToMatrix (double r, double p, double y, Eigen::Matrix3d &R) |
void | rpyToMatrix (const Eigen::Vector3d &rpy, Eigen::Matrix3d &R) |
void | se3Interp (const pinocchio::SE3 &s1, const pinocchio::SE3 &s2, const double alpha, pinocchio::SE3 &s12) |
double | wEulerMean (double a1, double a2, double w1, double w2) |
#define INPUT_SIGNALS |
Definition at line 167 of file talos-base-estimator.cpp.
Referenced by TalosBaseEstimator::TalosBaseEstimator().
#define OUTPUT_SIGNALS |
Definition at line 170 of file talos-base-estimator.cpp.
Referenced by TalosBaseEstimator::TalosBaseEstimator().
#define PROFILE_BASE_KINEMATICS_COMPUTATION "base-est kinematics computation" |
Definition at line 164 of file talos-base-estimator.cpp.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION().
#define PROFILE_BASE_POSITION_ESTIMATION "base-est position estimation" |
Definition at line 162 of file talos-base-estimator.cpp.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_INNER_FUNCTION().
#define PROFILE_BASE_VELOCITY_ESTIMATION "base-est velocity estimation" |
Definition at line 163 of file talos-base-estimator.cpp.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION().