#include <sot/torque_control/torque-offset-estimator.hh>
Public Types | |
typedef std::vector< Eigen::VectorXd, Eigen::aligned_allocator< Eigen::VectorXd > > | stdAlignedVector |
Public Member Functions | |
TorqueOffsetEstimator (const std::string &name) | |
void | computeOffset (const int &nIterations, const double &epsilon) |
DECLARE_SIGNAL_IN (base6d_encoders, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (accelerometer, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (gyroscope, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (jointTorques, dynamicgraph::Vector) | |
DECLARE_SIGNAL_INNER (collectSensorData, dummy) | |
DECLARE_SIGNAL_OUT (jointTorquesEstimated, dynamicgraph::Vector) | |
virtual void | display (std::ostream &os) const |
void | init (const std::string &urdfFile, const Eigen::Matrix4d &_m_torso_X_imu, const double &gyro_epsilon, const std::string &ffJointName, const std::string &torsoJointName) |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef int | dummy |
Protected Member Functions | |
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0) |
Protected Attributes | |
double | epsilon |
pinocchio::JointIndex | ffIndex |
double | gyro_epsilon |
Eigen::VectorXd | jointTorqueOffsets |
pinocchio::Data * | m_data |
Pinocchio robot model. More... | |
pinocchio::Model | m_model |
RobotUtilShrPtr | m_robot_util |
pinocchio::SE3 | m_torso_X_imu |
int | n_iterations |
Pinocchio robot data. More... | |
pinocchio::JointIndex | torsoIndex |
Definition at line 51 of file torque-offset-estimator.hh.
typedef std::vector<Eigen::VectorXd, Eigen::aligned_allocator<Eigen::VectorXd> > stdAlignedVector |
Definition at line 57 of file torque-offset-estimator.hh.
TorqueOffsetEstimator | ( | const std::string & | name | ) |
— CONSTRUCTOR -—
Definition at line 38 of file torque-offset-estimator.cpp.
References ALL_INPUT_SIGNALS, ALL_OUTPUT_SIGNALS, TorqueOffsetEstimator::computeOffset(), dynamicgraph::command::docCommandVoid5(), TorqueOffsetEstimator::init(), TorqueOffsetEstimator::jointTorqueOffsets, and dynamicgraph::command::makeCommandVoid5().
void computeOffset | ( | const int & | nIterations, |
const double & | epsilon | ||
) |
Definition at line 105 of file torque-offset-estimator.cpp.
References TorqueOffsetEstimator::epsilon, TorqueOffsetEstimator::jointTorqueOffsets, and TorqueOffsetEstimator::n_iterations.
Referenced by TorqueOffsetEstimator::TorqueOffsetEstimator().
DECLARE_SIGNAL_IN | ( | base6d_encoders | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | accelerometer | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | gyroscope | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | jointTorques | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_INNER | ( | collectSensorData | , |
dummy | |||
) |
DECLARE_SIGNAL_OUT | ( | jointTorquesEstimated | , |
dynamicgraph::Vector | |||
) |
|
virtual |
Definition at line 207 of file torque-offset-estimator.cpp.
void init | ( | const std::string & | urdfFile, |
const Eigen::Matrix4d & | _m_torso_X_imu, | ||
const double & | gyro_epsilon, | ||
const std::string & | ffJointName, | ||
const std::string & | torsoJointName | ||
) |
Definition at line 72 of file torque-offset-estimator.cpp.
References TorqueOffsetEstimator::ffIndex, TorqueOffsetEstimator::gyro_epsilon, TorqueOffsetEstimator::jointTorqueOffsets, TorqueOffsetEstimator::m_data, TorqueOffsetEstimator::m_model, TorqueOffsetEstimator::m_robot_util, TorqueOffsetEstimator::m_torso_X_imu, and TorqueOffsetEstimator::torsoIndex.
Referenced by TorqueOffsetEstimator::TorqueOffsetEstimator().
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inlineprotected |
Definition at line 93 of file torque-offset-estimator.hh.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef int dummy |
Definition at line 56 of file torque-offset-estimator.hh.
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protected |
Definition at line 79 of file torque-offset-estimator.hh.
Referenced by TorqueOffsetEstimator::computeOffset(), and dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION().
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Definition at line 82 of file torque-offset-estimator.hh.
Referenced by TorqueOffsetEstimator::init().
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Definition at line 80 of file torque-offset-estimator.hh.
Referenced by dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION(), and TorqueOffsetEstimator::init().
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Definition at line 83 of file torque-offset-estimator.hh.
Referenced by TorqueOffsetEstimator::computeOffset(), dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION(), dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION(), TorqueOffsetEstimator::init(), and TorqueOffsetEstimator::TorqueOffsetEstimator().
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protected |
Pinocchio robot model.
Definition at line 77 of file torque-offset-estimator.hh.
Referenced by dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION(), and TorqueOffsetEstimator::init().
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Definition at line 76 of file torque-offset-estimator.hh.
Referenced by dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION(), dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION(), and TorqueOffsetEstimator::init().
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Definition at line 75 of file torque-offset-estimator.hh.
Referenced by TorqueOffsetEstimator::init().
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Definition at line 84 of file torque-offset-estimator.hh.
Referenced by dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION(), and TorqueOffsetEstimator::init().
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Pinocchio robot data.
Definition at line 78 of file torque-offset-estimator.hh.
Referenced by TorqueOffsetEstimator::computeOffset(), and dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION().
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Definition at line 82 of file torque-offset-estimator.hh.
Referenced by dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION(), and TorqueOffsetEstimator::init().