#include "pinocchio/algorithm/frames.hpp"
#include <dynamic-graph/factory.h>
#include <sot/core/debug.hh>
#include <sot/torque_control/base-estimator.hh>
#include <sot/torque_control/commands-helper.hh>
#include <sot/core/stop-watch.hh>
Go to the source code of this file.
Namespaces | |
dynamicgraph | |
to read text file | |
dynamicgraph::sot | |
dynamicgraph::sot::torque_control | |
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 (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, dynamicgraph::Vector) | |
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 (BaseEstimator, "BaseEstimator") | |
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) |
#define INPUT_SIGNALS |
Definition at line 76 of file base-estimator.cpp.
Referenced by BaseEstimator::BaseEstimator().
#define OUTPUT_SIGNALS |
Definition at line 80 of file base-estimator.cpp.
Referenced by BaseEstimator::BaseEstimator().
#define PROFILE_BASE_KINEMATICS_COMPUTATION "base-est kinematics computation" |
Definition at line 74 of file base-estimator.cpp.
Referenced by dynamicgraph::sot::torque_control::DEFINE_SIGNAL_INNER_FUNCTION().
#define PROFILE_BASE_POSITION_ESTIMATION "base-est position estimation" |
Definition at line 72 of file base-estimator.cpp.
Referenced by dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION().
#define PROFILE_BASE_VELOCITY_ESTIMATION "base-est velocity estimation" |
Definition at line 73 of file base-estimator.cpp.
Referenced by dynamicgraph::sot::torque_control::DEFINE_SIGNAL_OUT_FUNCTION().