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‎doc/additionalDoc/package.hh‎

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@@ -28,7 +28,8 @@ install these packages at https://github.com/jrl-umi3218.
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\section python_bindings Python bindings
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As most packages based on the dynamic-graph framework (see https://github.com/jrl-umi3218/dynamic-graph),
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the functionnality is exposed through entities. Hence python sub-modules of dynamic_graph are generated. See <a href="../sphinx-html/index.html">sphinx documentation</a> for more details.
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the functionnality is exposed through entities. Hence python sub-modules of dynamic_graph are generated. See <a
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href="../sphinx-html/index.html">sphinx documentation</a> for more details.
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The following entities are created by this package:\n
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(all entites are placed in the namespace sot::)

‎include/sot-dynamic-pinocchio/angle-estimator.h‎

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@@ -13,14 +13,14 @@
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/* --- API ------------------------------------------------------------- */
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/* --------------------------------------------------------------------- */
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#if defined (WIN32)
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# if defined (angle_estimator_EXPORTS)
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# define SOTANGLEESTIMATOR_EXPORT __declspec(dllexport)
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# else
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# define SOTANGLEESTIMATOR_EXPORT __declspec(dllimport)
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# endif
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#if defined(WIN32)
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#if defined(angle_estimator_EXPORTS)
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#define SOTANGLEESTIMATOR_EXPORT __declspec(dllexport)
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#else
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# define SOTANGLEESTIMATOR_EXPORT
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#define SOTANGLEESTIMATOR_EXPORT __declspec(dllimport)
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#endif
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#else
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#define SOTANGLEESTIMATOR_EXPORT
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#endif
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/* --------------------------------------------------------------------- */
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/* Matrix */
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#include <dynamic-graph/linear-algebra.h>
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/* SOT */
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#include <dynamic-graph/entity.h>
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#include <dynamic-graph/signal-ptr.h>
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#include <dynamic-graph/signal-time-dependent.h>
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#include <sot/core/matrix-geometry.hh>
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/* STD */
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#include <string>
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namespace dynamicgraph { namespace sot {
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namespace dynamicgraph {
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namespace sot {
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namespace dg = dynamicgraph;
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/* --------------------------------------------------------------------- */
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/* --- CLASS ----------------------------------------------------------- */
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/* --------------------------------------------------------------------- */
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class SOTANGLEESTIMATOR_EXPORT AngleEstimator
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:public dg::Entity
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{
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class SOTANGLEESTIMATOR_EXPORT AngleEstimator : public dg::Entity {
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public:
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static const std::string CLASS_NAME;
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virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
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virtual const std::string& getClassName(void) const { return CLASS_NAME; }
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public: /* --- CONSTRUCTION --- */
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AngleEstimator( const std::string& name );
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virtual ~AngleEstimator( void );
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public: /* --- SIGNAL --- */
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dg::SignalPtr<MatrixRotation,int> sensorWorldRotationSIN; // estimate(worldRc)
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dg::SignalPtr<MatrixHomogeneous,int> sensorEmbeddedPositionSIN; // waistRchest
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dg::SignalPtr<MatrixHomogeneous,int> contactWorldPositionSIN; // estimate(worldRf)
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dg::SignalPtr<MatrixHomogeneous,int> contactEmbeddedPositionSIN; // waistRleg
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dg::SignalTimeDependent<dynamicgraph::Vector,int> anglesSOUT; // [ flex1 flex2 yaw_drift ]
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dg::SignalTimeDependent<MatrixRotation,int> flexibilitySOUT; // footRleg
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dg::SignalTimeDependent<MatrixRotation,int> driftSOUT; // Ryaw = worldRc est(wRc)^-1
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dg::SignalTimeDependent<MatrixRotation,int> sensorWorldRotationSOUT; // worldRc
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dg::SignalTimeDependent<MatrixRotation,int> waistWorldRotationSOUT; // worldRwaist
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dg::SignalTimeDependent<MatrixHomogeneous,int> waistWorldPositionSOUT; // worldMwaist
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dg::SignalTimeDependent<dynamicgraph::Vector,int> waistWorldPoseRPYSOUT; // worldMwaist
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dg::SignalPtr<dynamicgraph::Matrix,int> jacobianSIN;
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dg::SignalPtr<dynamicgraph::Vector,int> qdotSIN;
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dg::SignalTimeDependent<dynamicgraph::Vector,int> xff_dotSOUT;
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dg::SignalTimeDependent<dynamicgraph::Vector,int> qdotSOUT;
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AngleEstimator(const std::string& name);
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virtual ~AngleEstimator(void);
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public: /* --- SIGNAL --- */
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dg::SignalPtr<MatrixRotation, int> sensorWorldRotationSIN; // estimate(worldRc)
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dg::SignalPtr<MatrixHomogeneous, int> sensorEmbeddedPositionSIN; // waistRchest
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dg::SignalPtr<MatrixHomogeneous, int> contactWorldPositionSIN; // estimate(worldRf)
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dg::SignalPtr<MatrixHomogeneous, int> contactEmbeddedPositionSIN; // waistRleg
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dg::SignalTimeDependent<dynamicgraph::Vector, int> anglesSOUT; // [ flex1 flex2 yaw_drift ]
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dg::SignalTimeDependent<MatrixRotation, int> flexibilitySOUT; // footRleg
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dg::SignalTimeDependent<MatrixRotation, int> driftSOUT; // Ryaw = worldRc est(wRc)^-1
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dg::SignalTimeDependent<MatrixRotation, int> sensorWorldRotationSOUT; // worldRc
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dg::SignalTimeDependent<MatrixRotation, int> waistWorldRotationSOUT; // worldRwaist
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dg::SignalTimeDependent<MatrixHomogeneous, int> waistWorldPositionSOUT; // worldMwaist
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dg::SignalTimeDependent<dynamicgraph::Vector, int> waistWorldPoseRPYSOUT; // worldMwaist
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dg::SignalPtr<dynamicgraph::Matrix, int> jacobianSIN;
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dg::SignalPtr<dynamicgraph::Vector, int> qdotSIN;
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dg::SignalTimeDependent<dynamicgraph::Vector, int> xff_dotSOUT;
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dg::SignalTimeDependent<dynamicgraph::Vector, int> qdotSOUT;
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public: /* --- FUNCTIONS --- */
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dynamicgraph::Vector& computeAngles( dynamicgraph::Vector& res,
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const int& time );
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MatrixRotation& computeFlexibilityFromAngles( MatrixRotation& res,
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const int& time );
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MatrixRotation& computeDriftFromAngles( MatrixRotation& res,
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const int& time );
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MatrixRotation& computeSensorWorldRotation( MatrixRotation& res,
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const int& time );
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MatrixRotation& computeWaistWorldRotation( MatrixRotation& res,
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const int& time );
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MatrixHomogeneous& computeWaistWorldPosition( MatrixHomogeneous& res,
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const int& time );
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dynamicgraph::Vector& computeWaistWorldPoseRPY( dynamicgraph::Vector& res,
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const int& time );
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dynamicgraph::Vector& compute_xff_dotSOUT( dynamicgraph::Vector& res,
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const int& time );
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dynamicgraph::Vector& compute_qdotSOUT( dynamicgraph::Vector& res,
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const int& time );
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dynamicgraph::Vector& computeAngles(dynamicgraph::Vector& res, const int& time);
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MatrixRotation& computeFlexibilityFromAngles(MatrixRotation& res, const int& time);
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MatrixRotation& computeDriftFromAngles(MatrixRotation& res, const int& time);
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MatrixRotation& computeSensorWorldRotation(MatrixRotation& res, const int& time);
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MatrixRotation& computeWaistWorldRotation(MatrixRotation& res, const int& time);
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MatrixHomogeneous& computeWaistWorldPosition(MatrixHomogeneous& res, const int& time);
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dynamicgraph::Vector& computeWaistWorldPoseRPY(dynamicgraph::Vector& res, const int& time);
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dynamicgraph::Vector& compute_xff_dotSOUT(dynamicgraph::Vector& res, const int& time);
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dynamicgraph::Vector& compute_qdotSOUT(dynamicgraph::Vector& res, const int& time);
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public: /* --- PARAMS --- */
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void fromSensor(const bool& fs) { fromSensor_ = fs; }
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bool fromSensor() const { return fromSensor_; }
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bool fromSensor() const { return fromSensor_; }
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private:
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bool fromSensor_;
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};
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} /* namespace sot */
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} /* namespace dynamicgraph */
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} /* namespace sot */} /* namespace dynamicgraph */
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#endif // #ifndef __SOT_ANGLE_ESTIMATOR_H__
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#endif // #ifndef __SOT_ANGLE_ESTIMATOR_H__

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