sot-torque-control  1.5.3
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
TorqueOffsetEstimator Class Reference

#include <sot/torque_control/torque-offset-estimator.hh>

Inheritance diagram for TorqueOffsetEstimator:
Collaboration diagram for TorqueOffsetEstimator:

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 (accelerometer, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (base6d_encoders, 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
 

Detailed Description

Definition at line 51 of file torque-offset-estimator.hh.

Member Typedef Documentation

◆ stdAlignedVector

typedef std::vector<Eigen::VectorXd, Eigen::aligned_allocator<Eigen::VectorXd> > stdAlignedVector

Definition at line 57 of file torque-offset-estimator.hh.

Constructor & Destructor Documentation

◆ TorqueOffsetEstimator()

TorqueOffsetEstimator ( const std::string &  name)

— CONSTRUCTOR -—

Definition at line 38 of file torque-offset-estimator.cpp.

Member Function Documentation

◆ computeOffset()

void computeOffset ( const int &  nIterations,
const double &  epsilon 
)

Definition at line 105 of file torque-offset-estimator.cpp.

◆ DECLARE_SIGNAL_IN() [1/4]

DECLARE_SIGNAL_IN ( accelerometer  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/4]

DECLARE_SIGNAL_IN ( base6d_encoders  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [3/4]

DECLARE_SIGNAL_IN ( gyroscope  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [4/4]

DECLARE_SIGNAL_IN ( jointTorques  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_INNER()

DECLARE_SIGNAL_INNER ( collectSensorData  ,
dummy   
)

◆ DECLARE_SIGNAL_OUT()

DECLARE_SIGNAL_OUT ( jointTorquesEstimated  ,
dynamicgraph::Vector   
)

◆ display()

void display ( std::ostream &  os) const
virtual

Definition at line 207 of file torque-offset-estimator.cpp.

◆ init()

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.

◆ sendMsg()

void sendMsg ( const std::string &  msg,
MsgType  t = MSG_TYPE_INFO,
const char *  = "",
int  = 0 
)
inlineprotected

Definition at line 93 of file torque-offset-estimator.hh.

Member Data Documentation

◆ dummy

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef int dummy

Definition at line 56 of file torque-offset-estimator.hh.

◆ epsilon

double epsilon
protected

Definition at line 79 of file torque-offset-estimator.hh.

◆ ffIndex

pinocchio::JointIndex ffIndex
protected

Definition at line 82 of file torque-offset-estimator.hh.

◆ gyro_epsilon

double gyro_epsilon
protected

Definition at line 80 of file torque-offset-estimator.hh.

◆ jointTorqueOffsets

Eigen::VectorXd jointTorqueOffsets
protected

Definition at line 83 of file torque-offset-estimator.hh.

◆ m_data

pinocchio::Data* m_data
protected

Pinocchio robot model.

Definition at line 77 of file torque-offset-estimator.hh.

◆ m_model

pinocchio::Model m_model
protected

Definition at line 76 of file torque-offset-estimator.hh.

◆ m_robot_util

RobotUtilShrPtr m_robot_util
protected

Definition at line 75 of file torque-offset-estimator.hh.

◆ m_torso_X_imu

pinocchio::SE3 m_torso_X_imu
protected

Definition at line 84 of file torque-offset-estimator.hh.

◆ n_iterations

int n_iterations
protected

Pinocchio robot data.

Definition at line 78 of file torque-offset-estimator.hh.

◆ torsoIndex

pinocchio::JointIndex torsoIndex
protected

Definition at line 82 of file torque-offset-estimator.hh.


The documentation for this class was generated from the following files: