FreeFlyerLocator Class Reference

#include <sot/torque_control/free-flyer-locator.hh>

Inheritance diagram for FreeFlyerLocator:

Collaboration diagram for FreeFlyerLocator:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	FreeFlyerLocator (const std::string &name)
	~FreeFlyerLocator ()
	DECLARE_SIGNAL_IN (base6d_encoders, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (joint_velocities, dynamicgraph::Vector)
	DECLARE_SIGNAL_INNER (kinematics_computations, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (base6dFromFoot_encoders, dynamicgraph::Vector)
	base6d_encoders with base6d in RPY More...
	DECLARE_SIGNAL_OUT (freeflyer_aa, dynamicgraph::Vector)
	freeflyer position with angle axis format More...
	DECLARE_SIGNAL_OUT (v, dynamicgraph::Vector)
	n+6 robot velocities More...
virtual void	display (std::ostream &os) const
void	displayRobotUtil ()
void	init (const std::string &robotRef)
void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0)

Protected Attributes
pinocchio::Data *	m_data
	Pinocchio robot model. More...
bool	m_initSucceeded
long unsigned int	m_left_foot_id
pinocchio::SE3	m_Mff
	Pinocchio robot data. More...
pinocchio::Model *	m_model
	true if the entity has been successfully initialized More...
Eigen::VectorXd	m_q_pin
Eigen::VectorXd	m_q_sot
	robot configuration according to pinocchio convention More...
long unsigned int	m_right_foot_id
RobotUtilShrPtr	m_robot_util
	robot velocities according to SoT convention More...
Eigen::VectorXd	m_v_pin
	robot configuration according to SoT convention More...
Eigen::VectorXd	m_v_sot
	robot velocities according to pinocchio convention More...
pinocchio::SE3	m_w_M_lf
	SE3 Transform from center of feet to base. More...
pinocchio::SE3	m_w_M_rf

Detailed Description

Definition at line 51 of file free-flyer-locator.hh.

Constructor & Destructor Documentation

FreeFlyerLocator()

FreeFlyerLocator

(

const std::string &

name

)

Definition at line 41 of file free-flyer-locator.cpp.

~FreeFlyerLocator()

~FreeFlyerLocator

(

)

Definition at line 64 of file free-flyer-locator.cpp.

Member Function Documentation

DECLARE_SIGNAL_IN() [1/2]

DECLARE_SIGNAL_IN	(	base6d_encoders	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [2/2]

DECLARE_SIGNAL_IN	(	joint_velocities	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_INNER()

DECLARE_SIGNAL_INNER	(	kinematics_computations	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [1/3]

DECLARE_SIGNAL_OUT	(	base6dFromFoot_encoders	,
		dynamicgraph::Vector
	)

base6d_encoders with base6d in RPY

DECLARE_SIGNAL_OUT() [2/3]

DECLARE_SIGNAL_OUT	(	freeflyer_aa	,
		dynamicgraph::Vector
	)

freeflyer position with angle axis format

DECLARE_SIGNAL_OUT() [3/3]

DECLARE_SIGNAL_OUT	(	v	,
		dynamicgraph::Vector
	)

n+6 robot velocities

display()

void display ( std::ostream &  os ) const

virtual

Definition at line 231 of file free-flyer-locator.cpp.

displayRobotUtil()

void displayRobotUtil

(

)

Definition at line 225 of file free-flyer-locator.cpp.

init()

void init

(

const std::string &

robotRef

)

Definition at line 69 of file free-flyer-locator.cpp.

sendMsg()

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

inline

Definition at line 81 of file free-flyer-locator.hh.

Member Data Documentation

m_data

pinocchio::Data* m_data

protected

Pinocchio robot model.

Definition at line 88 of file free-flyer-locator.hh.

m_initSucceeded

bool m_initSucceeded

protected

Definition at line 86 of file free-flyer-locator.hh.

m_left_foot_id

long unsigned int m_left_foot_id

protected

Definition at line 93 of file free-flyer-locator.hh.

m_Mff

pinocchio::SE3 m_Mff

protected

Pinocchio robot data.

Definition at line 89 of file free-flyer-locator.hh.

m_model

pinocchio::Model* m_model

protected

true if the entity has been successfully initialized

Definition at line 87 of file free-flyer-locator.hh.

m_q_pin

Eigen::VectorXd m_q_pin

protected

Definition at line 94 of file free-flyer-locator.hh.

m_q_sot

Eigen::VectorXd m_q_sot

protected

robot configuration according to pinocchio convention

Definition at line 95 of file free-flyer-locator.hh.

m_right_foot_id

long unsigned int m_right_foot_id

protected

Definition at line 92 of file free-flyer-locator.hh.

m_robot_util

RobotUtilShrPtr m_robot_util

protected

robot velocities according to SoT convention

Definition at line 99 of file free-flyer-locator.hh.

m_v_pin

Eigen::VectorXd m_v_pin

protected

robot configuration according to SoT convention

Definition at line 96 of file free-flyer-locator.hh.

m_v_sot

Eigen::VectorXd m_v_sot

protected

robot velocities according to pinocchio convention

Definition at line 97 of file free-flyer-locator.hh.

m_w_M_lf

pinocchio::SE3 m_w_M_lf

protected

SE3 Transform from center of feet to base.

Definition at line 90 of file free-flyer-locator.hh.

m_w_M_rf

pinocchio::SE3 m_w_M_rf

protected

Definition at line 91 of file free-flyer-locator.hh.

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

• include/sot/torque_control/free-flyer-locator.hh
• src/free-flyer-locator.cpp