#include <sot/torque_control/numerical-difference.hh>
|
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0) |
|
This Entity takes as inputs a signal and estimates its first two time derivatives.
Definition at line 47 of file numerical-difference.hh.
◆ NumericalDifference()
◆ DECLARE_SIGNAL_IN()
DECLARE_SIGNAL_IN |
( |
x |
, |
|
|
dynamicgraph::Vector |
|
|
) |
| |
◆ DECLARE_SIGNAL_INNER()
DECLARE_SIGNAL_INNER |
( |
x_dx_ddx |
, |
|
|
dynamicgraph::Vector |
|
|
) |
| |
This signal contains the estimated positions, velocities and accelerations.
The following inner signals are used because this entity has some output signals whose related quantities are computed at the same time by the same algorithm To avoid the risk of recomputing the same things twice, we create an inner signal that groups together all the quantities that are computed together. Then the single output signals will depend on this inner signal, which is the one triggering the computations. Inner signals are not exposed, so that nobody can access them.
◆ DECLARE_SIGNAL_OUT() [1/3]
DECLARE_SIGNAL_OUT |
( |
ddx |
, |
|
|
dynamicgraph::Vector |
|
|
) |
| |
◆ DECLARE_SIGNAL_OUT() [2/3]
DECLARE_SIGNAL_OUT |
( |
dx |
, |
|
|
dynamicgraph::Vector |
|
|
) |
| |
◆ DECLARE_SIGNAL_OUT() [3/3]
DECLARE_SIGNAL_OUT |
( |
x_filtered |
, |
|
|
dynamicgraph::Vector |
|
|
) |
| |
◆ display()
void display |
( |
std::ostream & |
os | ) |
const |
|
virtual |
◆ init()
void init |
( |
const double & |
timestep, |
|
|
const int & |
sigSize, |
|
|
const double & |
delay, |
|
|
const int & |
polyOrder |
|
) |
| |
Initialize the NumericalDifference.
- Parameters
-
timestep | Period (in seconds) after which the sensors' data are updated. |
sigSize | Size of the input signal. |
delay | Delay (in seconds) introduced by the estimation. This should be a multiple of timestep. |
polyOrder | Order of the approximation polynomial. int 1 or 2. |
- Note
- The estimationDelay is half of the length of the window used for the polynomial fitting. The larger the delay, the smoother the estimations.
Definition at line 60 of file numerical-difference.cpp.
◆ sendMsg()
void sendMsg |
( |
const std::string & |
msg, |
|
|
MsgType |
t = MSG_TYPE_INFO , |
|
|
const char * |
= "" , |
|
|
int |
= 0 |
|
) |
| |
|
inlineprotected |
◆ m_ddx_filter_std
std::vector<double> m_ddx_filter_std |
|
protected |
std::vector to use with the filters All the variables whose name contains 'filter' are outputs of the filters
Definition at line 72 of file numerical-difference.hh.
◆ m_delay
◆ m_dt
◆ m_dx_filter_std
std::vector<double> m_dx_filter_std |
|
protected |
◆ m_filter
◆ m_x_filter_std
std::vector<double> m_x_filter_std |
|
protected |
◆ m_x_std
std::vector<double> m_x_std |
|
protected |
◆ x_size
The documentation for this class was generated from the following files: