53 :
public ::dynamicgraph::Entity {
54 DYNAMIC_GRAPH_ENTITY_DECL();
57 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
59 typedef std::vector<Eigen::VectorXd,
60 Eigen::aligned_allocator<Eigen::VectorXd> >
65 void init(
const std::string& urdfFile,
const Eigen::Matrix4d& _m_torso_X_imu,
66 const double& gyro_epsilon,
const std::string& ffJointName,
67 const std::string& torsoJointName);
68 void computeOffset(
const int& nIterations,
const double& epsilon);
70 virtual void display(std::ostream& os)
const;
99 void sendMsg(
const std::string& msg, MsgType t = MSG_TYPE_INFO,
100 const char* =
"",
int = 0) {
101 logger_.stream(t) << (
"[" + name +
"] " + msg) <<
'\n';
105 enum { PRECOMPUTATION, INPROGRESS, COMPUTED } sensor_offset_status;
108 int current_progress;