10 #ifndef __SOT_ANGLE_ESTIMATOR_H__ 11 #define __SOT_ANGLE_ESTIMATOR_H__ 17 #if defined(angle_estimator_EXPORTS) 18 #define SOTANGLEESTIMATOR_EXPORT __declspec(dllexport) 20 #define SOTANGLEESTIMATOR_EXPORT __declspec(dllimport) 23 #define SOTANGLEESTIMATOR_EXPORT 31 #include <dynamic-graph/linear-algebra.h> 34 #include <dynamic-graph/entity.h> 35 #include <dynamic-graph/signal-ptr.h> 36 #include <dynamic-graph/signal-time-dependent.h> 37 #include <sot/core/matrix-geometry.hh> 53 virtual const std::string&
getClassName(
void)
const {
return CLASS_NAME; }
64 dg::SignalTimeDependent<dynamicgraph::Vector, int>
anglesSOUT;
66 dg::SignalTimeDependent<MatrixRotation, int>
driftSOUT;
73 dg::SignalPtr<dynamicgraph::Vector, int>
qdotSIN;
74 dg::SignalTimeDependent<dynamicgraph::Vector, int>
xff_dotSOUT;
75 dg::SignalTimeDependent<dynamicgraph::Vector, int>
qdotSOUT;
78 dynamicgraph::Vector& computeAngles(dynamicgraph::Vector& res,
const int& time);
79 MatrixRotation& computeFlexibilityFromAngles(MatrixRotation& res,
const int& time);
80 MatrixRotation& computeDriftFromAngles(MatrixRotation& res,
const int& time);
81 MatrixRotation& computeSensorWorldRotation(MatrixRotation& res,
const int& time);
82 MatrixRotation& computeWaistWorldRotation(MatrixRotation& res,
const int& time);
83 MatrixHomogeneous& computeWaistWorldPosition(MatrixHomogeneous& res,
const int& time);
84 dynamicgraph::Vector& computeWaistWorldPoseRPY(dynamicgraph::Vector& res,
const int& time);
85 dynamicgraph::Vector& compute_xff_dotSOUT(dynamicgraph::Vector& res,
const int& time);
86 dynamicgraph::Vector& compute_qdotSOUT(dynamicgraph::Vector& res,
const int& time);
99 #endif // #ifndef __SOT_ANGLE_ESTIMATOR_H__ dg::SignalTimeDependent< MatrixRotation, int > flexibilitySOUT
Definition: angle-estimator.h:65
bool fromSensor() const
Definition: angle-estimator.h:90
dg::SignalTimeDependent< dynamicgraph::Vector, int > qdotSOUT
Definition: angle-estimator.h:75
dg::SignalPtr< MatrixRotation, int > sensorWorldRotationSIN
Definition: angle-estimator.h:60
dg::SignalTimeDependent< dynamicgraph::Vector, int > anglesSOUT
Definition: angle-estimator.h:64
dg::SignalTimeDependent< MatrixHomogeneous, int > waistWorldPositionSOUT
Definition: angle-estimator.h:69
virtual const std::string & getClassName(void) const
Definition: angle-estimator.h:53
dg::SignalPtr< dynamicgraph::Vector, int > qdotSIN
Definition: angle-estimator.h:73
dg::SignalTimeDependent< MatrixRotation, int > driftSOUT
Definition: angle-estimator.h:66
static const std::string CLASS_NAME
Definition: angle-estimator.h:52
dg::SignalTimeDependent< MatrixRotation, int > sensorWorldRotationSOUT
Definition: angle-estimator.h:67
dg::SignalPtr< MatrixHomogeneous, int > contactWorldPositionSIN
Definition: angle-estimator.h:62
#define SOTANGLEESTIMATOR_EXPORT
Definition: angle-estimator.h:23
dg::SignalTimeDependent< dynamicgraph::Vector, int > waistWorldPoseRPYSOUT
Definition: angle-estimator.h:70
dg::SignalTimeDependent< MatrixRotation, int > waistWorldRotationSOUT
Definition: angle-estimator.h:68
dg::SignalPtr< MatrixHomogeneous, int > contactEmbeddedPositionSIN
Definition: angle-estimator.h:63
dg::SignalPtr< dynamicgraph::Matrix, int > jacobianSIN
Definition: angle-estimator.h:72
dg::SignalTimeDependent< dynamicgraph::Vector, int > xff_dotSOUT
Definition: angle-estimator.h:74
void fromSensor(const bool &fs)
Definition: angle-estimator.h:89
dg::SignalPtr< MatrixHomogeneous, int > sensorEmbeddedPositionSIN
Definition: angle-estimator.h:61
Definition: angle-estimator.h:42
Definition: angle-estimator.h:50