#include <sot/torque_control/free-flyer-locator.hh>
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pinocchio::Data * | m_data |
| Pinocchio robot model.
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bool | m_initSucceeded |
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long unsigned int | m_left_foot_id |
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pinocchio::SE3 | m_Mff |
| Pinocchio robot data.
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pinocchio::Model * | m_model |
| true if the entity has been successfully initialized
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Eigen::VectorXd | m_q_pin |
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Eigen::VectorXd | m_q_sot |
| robot configuration according to pinocchio convention
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long unsigned int | m_right_foot_id |
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RobotUtilShrPtr | m_robot_util |
| robot velocities according to SoT convention
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Eigen::VectorXd | m_v_pin |
| robot configuration according to SoT convention
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Eigen::VectorXd | m_v_sot |
| robot velocities according to pinocchio convention
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pinocchio::SE3 | m_w_M_lf |
| SE3 Transform from center of feet to base.
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pinocchio::SE3 | m_w_M_rf |
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Definition at line 53 of file free-flyer-locator.hh.
◆ FreeFlyerLocator()
◆ ~FreeFlyerLocator()
◆ DECLARE_SIGNAL_IN() [1/2]
DECLARE_SIGNAL_IN |
( |
base6d_encoders |
, |
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dynamicgraph::Vector |
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) |
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◆ DECLARE_SIGNAL_IN() [2/2]
DECLARE_SIGNAL_IN |
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joint_velocities |
, |
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dynamicgraph::Vector |
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) |
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◆ DECLARE_SIGNAL_INNER()
DECLARE_SIGNAL_INNER |
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kinematics_computations |
, |
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dynamicgraph::Vector |
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) |
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◆ DECLARE_SIGNAL_OUT() [1/3]
DECLARE_SIGNAL_OUT |
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base6dFromFoot_encoders |
, |
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dynamicgraph::Vector |
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) |
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base6d_encoders with base6d in RPY
◆ DECLARE_SIGNAL_OUT() [2/3]
DECLARE_SIGNAL_OUT |
( |
freeflyer_aa |
, |
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dynamicgraph::Vector |
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) |
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freeflyer position with angle axis format
◆ DECLARE_SIGNAL_OUT() [3/3]
DECLARE_SIGNAL_OUT |
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v |
, |
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dynamicgraph::Vector |
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) |
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◆ display()
void display |
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std::ostream & |
os | ) |
const |
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virtual |
◆ displayRobotUtil()
void displayRobotUtil |
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◆ init()
void init |
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const std::string & |
robotRef | ) |
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◆ sendMsg()
void sendMsg |
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const std::string & |
msg, |
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MsgType |
t = MSG_TYPE_INFO , |
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const char * |
= "" , |
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int |
= 0 |
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) |
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inline |
◆ m_data
◆ m_initSucceeded
◆ m_left_foot_id
long unsigned int m_left_foot_id |
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protected |
◆ m_Mff
◆ m_model
pinocchio::Model* m_model |
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protected |
◆ m_q_pin
◆ m_q_sot
◆ m_right_foot_id
long unsigned int m_right_foot_id |
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protected |
◆ m_robot_util
RobotUtilShrPtr m_robot_util |
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protected |
◆ m_v_pin
◆ m_v_sot
◆ m_w_M_lf
◆ m_w_M_rf
The documentation for this class was generated from the following files: