sot-torque-control  1.6.1
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
ImuOffsetCompensation Class Reference

#include <sot/torque_control/imu_offset_compensation.hh>

Inheritance diagram for ImuOffsetCompensation:
Collaboration diagram for ImuOffsetCompensation:

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ImuOffsetCompensation (const std::string &name)
 
 DECLARE_SIGNAL_IN (accelerometer_in, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (gyrometer_in, dynamicgraph::Vector)
 raw accelerometer data More...
 
 DECLARE_SIGNAL_OUT (accelerometer_out, dynamicgraph::Vector)
 raw gyrometer data More...
 
 DECLARE_SIGNAL_OUT (gyrometer_out, dynamicgraph::Vector)
 compensated accelerometer data More...
 
void init (const double &dt)
 
void setGyroDCBlockerParameter (const double &alpha)
 
void update_offset (const double &duration)
 

Protected Member Functions

virtual void display (std::ostream &os) const
 compensated gyrometer data More...
 
void sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
 
void update_offset_impl (int iter)
 

Protected Attributes

double m_a_gyro_DC_blocker
 total number of update cycles to perform More...
 
Vector3 m_acc_offset
 gyrometer offset More...
 
Vector3 m_acc_sum
 tmp variable to store the sum of the gyro measurements during update phase More...
 
float m_dt
 true if the entity has been successfully initialized More...
 
Vector3 m_gyro_offset
 
Vector3 m_gyro_sum
 accelerometer offset More...
 
bool m_initSucceeded
 
int m_update_cycles
 number of update cycles left More...
 
int m_update_cycles_left
 sampling time in seconds More...
 

Detailed Description

Definition at line 46 of file imu_offset_compensation.hh.

Constructor & Destructor Documentation

◆ ImuOffsetCompensation()

ImuOffsetCompensation ( const std::string &  name)

Definition at line 38 of file imu_offset_compensation.cpp.

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/2]

DECLARE_SIGNAL_IN ( accelerometer_in  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/2]

DECLARE_SIGNAL_IN ( gyrometer_in  ,
dynamicgraph::Vector   
)

raw accelerometer data

◆ DECLARE_SIGNAL_OUT() [1/2]

DECLARE_SIGNAL_OUT ( accelerometer_out  ,
dynamicgraph::Vector   
)

raw gyrometer data

◆ DECLARE_SIGNAL_OUT() [2/2]

DECLARE_SIGNAL_OUT ( gyrometer_out  ,
dynamicgraph::Vector   
)

compensated accelerometer data

◆ display()

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

compensated gyrometer data

Definition at line 201 of file imu_offset_compensation.cpp.

◆ init()

void init ( const double &  dt)

Definition at line 73 of file imu_offset_compensation.cpp.

◆ sendMsg()

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

Definition at line 73 of file imu_offset_compensation.hh.

◆ setGyroDCBlockerParameter()

void setGyroDCBlockerParameter ( const double &  alpha)

Definition at line 118 of file imu_offset_compensation.cpp.

◆ update_offset()

void update_offset ( const double &  duration)

Definition at line 123 of file imu_offset_compensation.cpp.

◆ update_offset_impl()

void update_offset_impl ( int  iter)
protected

Definition at line 129 of file imu_offset_compensation.cpp.

Member Data Documentation

◆ m_a_gyro_DC_blocker

double m_a_gyro_DC_blocker
protected

total number of update cycles to perform

Definition at line 82 of file imu_offset_compensation.hh.

◆ m_acc_offset

Vector3 m_acc_offset
protected

gyrometer offset

Definition at line 85 of file imu_offset_compensation.hh.

◆ m_acc_sum

Vector3 m_acc_sum
protected

tmp variable to store the sum of the gyro measurements during update phase

Definition at line 88 of file imu_offset_compensation.hh.

◆ m_dt

float m_dt
protected

true if the entity has been successfully initialized

Definition at line 79 of file imu_offset_compensation.hh.

◆ m_gyro_offset

Vector3 m_gyro_offset
protected

filter parameter to remove DC from gyro online (should be close to <1.0 and equal to 1.0 for disabling)

Definition at line 84 of file imu_offset_compensation.hh.

◆ m_gyro_sum

Vector3 m_gyro_sum
protected

accelerometer offset

Definition at line 87 of file imu_offset_compensation.hh.

◆ m_initSucceeded

bool m_initSucceeded
protected

Definition at line 78 of file imu_offset_compensation.hh.

◆ m_update_cycles

int m_update_cycles
protected

number of update cycles left

Definition at line 81 of file imu_offset_compensation.hh.

◆ m_update_cycles_left

int m_update_cycles_left
protected

sampling time in seconds

Definition at line 80 of file imu_offset_compensation.hh.


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