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Public Member Functions | Public Attributes | Protected Attributes | List of all members
ExchangeData Class Reference

#include <utils.h>

Public Member Functions

 ExchangeData ()
 
void resize_v (const int sz, const double val)
 
void resize_counterv (const int sz, const double val)
 
void set_xd (const Vector &_xd)
 
void set_qd (const Vector &_qd)
 
void set_qd (const int i, const double val)
 
void set_x (const Vector &_x)
 
void set_x (const Vector &_x, const double stamp)
 
void set_q (const Vector &_q)
 
void set_torso (const Vector &_torso)
 
void set_v (const Vector &_v)
 
void set_counterv (const Vector &_counterv)
 
void set_fpFrame (const Matrix &_S)
 
Vector get_xd ()
 
Vector get_qd ()
 
Vector get_x ()
 
Vector get_x (double &stamp)
 
Vector get_q ()
 
Vector get_torso ()
 
Vector get_v ()
 
Vector get_counterv ()
 
Matrix get_fpFrame ()
 
std::pair< Vector, bool > get_gyro ()
 
std::pair< Vector, bool > get_accel ()
 

Public Attributes

xdPort * port_xd
 
string robotName
 
string localStemName
 
Vector eyeTiltLim
 
double minAllowedVergence
 
double eyesBoundVer
 
double gyro_noise_threshold
 
double stabilizationGain
 
iKinLimbVersion head_version
 
double saccadesInhibitionPeriod
 
double saccadesActivationAngle
 
int neckSolveCnt
 
bool ctrlActive
 
bool trackingModeOn
 
bool saccadeUnderway
 
bool verbose
 
bool tweakOverwrite
 
bool saccadesOn
 
bool neckPosCtrlOn
 
bool stabilizationOn
 
bool useMASClient
 
ResourceFinder rf_cameras
 
ResourceFinder rf_tweak
 
string tweakFile
 
bool debugInfoEnabled
 
IThreeAxisGyroscopes * iGyro
 
IThreeAxisLinearAccelerometers * iAccel
 

Protected Attributes

mutex mtx [8]
 
Vector xd
 
Vector qd
 
Vector x
 
Vector q
 
Vector torso
 
Vector v
 
Vector counterv
 
Matrix S
 
Vector imu
 
double x_stamp
 

Detailed Description

Definition at line 93 of file utils.h.

Constructor & Destructor Documentation

◆ ExchangeData()

ExchangeData::ExchangeData ( )

Definition at line 138 of file utils.cpp.

Member Function Documentation

◆ get_accel()

std::pair< Vector, bool > ExchangeData::get_accel ( )

Definition at line 362 of file utils.cpp.

◆ get_counterv()

Vector ExchangeData::get_counterv ( )

Definition at line 328 of file utils.cpp.

◆ get_fpFrame()

Matrix ExchangeData::get_fpFrame ( )

Definition at line 337 of file utils.cpp.

◆ get_gyro()

std::pair< Vector, bool > ExchangeData::get_gyro ( )

Definition at line 345 of file utils.cpp.

◆ get_q()

Vector ExchangeData::get_q ( )

Definition at line 301 of file utils.cpp.

◆ get_qd()

Vector ExchangeData::get_qd ( )

Definition at line 273 of file utils.cpp.

◆ get_torso()

Vector ExchangeData::get_torso ( )

Definition at line 310 of file utils.cpp.

◆ get_v()

Vector ExchangeData::get_v ( )

Definition at line 319 of file utils.cpp.

◆ get_x() [1/2]

Vector ExchangeData::get_x ( )

Definition at line 282 of file utils.cpp.

◆ get_x() [2/2]

Vector ExchangeData::get_x ( double &  stamp)

Definition at line 291 of file utils.cpp.

◆ get_xd()

Vector ExchangeData::get_xd ( )

Definition at line 264 of file utils.cpp.

◆ resize_counterv()

void ExchangeData::resize_counterv ( const int  sz,
const double  val 
)

Definition at line 176 of file utils.cpp.

◆ resize_v()

void ExchangeData::resize_v ( const int  sz,
const double  val 
)

Definition at line 168 of file utils.cpp.

◆ set_counterv()

void ExchangeData::set_counterv ( const Vector &  _counterv)

Definition at line 249 of file utils.cpp.

◆ set_fpFrame()

void ExchangeData::set_fpFrame ( const Matrix &  _S)

Definition at line 257 of file utils.cpp.

◆ set_q()

void ExchangeData::set_q ( const Vector &  _q)

Definition at line 225 of file utils.cpp.

◆ set_qd() [1/2]

void ExchangeData::set_qd ( const int  i,
const double  val 
)

Definition at line 200 of file utils.cpp.

◆ set_qd() [2/2]

void ExchangeData::set_qd ( const Vector &  _qd)

Definition at line 192 of file utils.cpp.

◆ set_torso()

void ExchangeData::set_torso ( const Vector &  _torso)

Definition at line 233 of file utils.cpp.

◆ set_v()

void ExchangeData::set_v ( const Vector &  _v)

Definition at line 241 of file utils.cpp.

◆ set_x() [1/2]

void ExchangeData::set_x ( const Vector &  _x)

Definition at line 208 of file utils.cpp.

◆ set_x() [2/2]

void ExchangeData::set_x ( const Vector &  _x,
const double  stamp 
)

Definition at line 216 of file utils.cpp.

◆ set_xd()

void ExchangeData::set_xd ( const Vector &  _xd)

Definition at line 184 of file utils.cpp.

Member Data Documentation

◆ counterv

Vector ExchangeData::counterv
protected

Definition at line 99 of file utils.h.

◆ ctrlActive

bool ExchangeData::ctrlActive

Definition at line 147 of file utils.h.

◆ debugInfoEnabled

bool ExchangeData::debugInfoEnabled

Definition at line 159 of file utils.h.

◆ eyesBoundVer

double ExchangeData::eyesBoundVer

Definition at line 140 of file utils.h.

◆ eyeTiltLim

Vector ExchangeData::eyeTiltLim

Definition at line 138 of file utils.h.

◆ gyro_noise_threshold

double ExchangeData::gyro_noise_threshold

Definition at line 141 of file utils.h.

◆ head_version

iKinLimbVersion ExchangeData::head_version

Definition at line 143 of file utils.h.

◆ iAccel

IThreeAxisLinearAccelerometers* ExchangeData::iAccel

Definition at line 162 of file utils.h.

◆ iGyro

IThreeAxisGyroscopes* ExchangeData::iGyro

Definition at line 161 of file utils.h.

◆ imu

Vector ExchangeData::imu
protected

Definition at line 101 of file utils.h.

◆ localStemName

string ExchangeData::localStemName

Definition at line 137 of file utils.h.

◆ minAllowedVergence

double ExchangeData::minAllowedVergence

Definition at line 139 of file utils.h.

◆ mtx

mutex ExchangeData::mtx[8]
protected

Definition at line 96 of file utils.h.

◆ neckPosCtrlOn

bool ExchangeData::neckPosCtrlOn

Definition at line 153 of file utils.h.

◆ neckSolveCnt

int ExchangeData::neckSolveCnt

Definition at line 146 of file utils.h.

◆ port_xd

xdPort* ExchangeData::port_xd

Definition at line 135 of file utils.h.

◆ q

Vector ExchangeData::q
protected

Definition at line 98 of file utils.h.

◆ qd

Vector ExchangeData::qd
protected

Definition at line 97 of file utils.h.

◆ rf_cameras

ResourceFinder ExchangeData::rf_cameras

Definition at line 156 of file utils.h.

◆ rf_tweak

ResourceFinder ExchangeData::rf_tweak

Definition at line 157 of file utils.h.

◆ robotName

string ExchangeData::robotName

Definition at line 136 of file utils.h.

◆ S

Matrix ExchangeData::S
protected

Definition at line 100 of file utils.h.

◆ saccadesActivationAngle

double ExchangeData::saccadesActivationAngle

Definition at line 145 of file utils.h.

◆ saccadesInhibitionPeriod

double ExchangeData::saccadesInhibitionPeriod

Definition at line 144 of file utils.h.

◆ saccadesOn

bool ExchangeData::saccadesOn

Definition at line 152 of file utils.h.

◆ saccadeUnderway

bool ExchangeData::saccadeUnderway

Definition at line 149 of file utils.h.

◆ stabilizationGain

double ExchangeData::stabilizationGain

Definition at line 142 of file utils.h.

◆ stabilizationOn

bool ExchangeData::stabilizationOn

Definition at line 154 of file utils.h.

◆ torso

Vector ExchangeData::torso
protected

Definition at line 98 of file utils.h.

◆ trackingModeOn

bool ExchangeData::trackingModeOn

Definition at line 148 of file utils.h.

◆ tweakFile

string ExchangeData::tweakFile

Definition at line 158 of file utils.h.

◆ tweakOverwrite

bool ExchangeData::tweakOverwrite

Definition at line 151 of file utils.h.

◆ useMASClient

bool ExchangeData::useMASClient

Definition at line 155 of file utils.h.

◆ v

Vector ExchangeData::v
protected

Definition at line 99 of file utils.h.

◆ verbose

bool ExchangeData::verbose

Definition at line 150 of file utils.h.

◆ x

Vector ExchangeData::x
protected

Definition at line 98 of file utils.h.

◆ x_stamp

double ExchangeData::x_stamp
protected

Definition at line 102 of file utils.h.

◆ xd

Vector ExchangeData::xd
protected

Definition at line 97 of file utils.h.

The documentation for this class was generated from the following files:
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