#include <sot/torque_control/imu_offset_compensation.hh>
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 |
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... | |
Definition at line 46 of file imu_offset_compensation.hh.
ImuOffsetCompensation | ( | const std::string & | name | ) |
Definition at line 40 of file imu_offset_compensation.cpp.
DECLARE_SIGNAL_IN | ( | accelerometer_in | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | gyrometer_in | , |
dynamicgraph::Vector | |||
) |
raw accelerometer data
DECLARE_SIGNAL_OUT | ( | accelerometer_out | , |
dynamicgraph::Vector | |||
) |
raw gyrometer data
DECLARE_SIGNAL_OUT | ( | gyrometer_out | , |
dynamicgraph::Vector | |||
) |
compensated accelerometer data
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protectedvirtual |
compensated gyrometer data
Definition at line 230 of file imu_offset_compensation.cpp.
void init | ( | const double & | dt | ) |
Definition at line 84 of file imu_offset_compensation.cpp.
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inlineprotected |
Definition at line 77 of file imu_offset_compensation.hh.
void setGyroDCBlockerParameter | ( | const double & | alpha | ) |
Definition at line 133 of file imu_offset_compensation.cpp.
void update_offset | ( | const double & | duration | ) |
Definition at line 140 of file imu_offset_compensation.cpp.
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protected |
Definition at line 148 of file imu_offset_compensation.cpp.
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protected |
total number of update cycles to perform
Definition at line 89 of file imu_offset_compensation.hh.
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protected |
gyrometer offset
Definition at line 93 of file imu_offset_compensation.hh.
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protected |
tmp variable to store the sum of the gyro measurements during update phase
Definition at line 97 of file imu_offset_compensation.hh.
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protected |
true if the entity has been successfully initialized
Definition at line 86 of file imu_offset_compensation.hh.
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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 92 of file imu_offset_compensation.hh.
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protected |
accelerometer offset
Definition at line 95 of file imu_offset_compensation.hh.
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protected |
Definition at line 85 of file imu_offset_compensation.hh.
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protected |
number of update cycles left
Definition at line 88 of file imu_offset_compensation.hh.
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protected |
sampling time in seconds
Definition at line 87 of file imu_offset_compensation.hh.