#include <solver.h>

Inheritance diagram for EyePinvRefGen:

Public Member Functions
	EyePinvRefGen (PolyDriver _drvTorso, PolyDriver _drvHead, ExchangeData _commData, Controller _ctrl, const Vector &_counterRotGain, const unsigned int _period)

virtual	~EyePinvRefGen ()

void	enable ()

void	disable ()

Vector	getCounterRotGain ()

void	setCounterRotGain (const Vector &gain)

void	minAllowedVergenceChanged () override

bool	bindEyes (const double ver)

bool	clearEyes ()

void	manageBindEyes (const double ver)

bool	threadInit () override

void	threadRelease () override

void	afterStart (bool s) override

void	run () override

void	suspend ()

void	resume ()

Public Member Functions inherited from GazeComponent
virtual bool	getExtrinsicsMatrix (const string &type, Matrix &M)

virtual bool	setExtrinsicsMatrix (const string &type, const Matrix &M)

Protected Member Functions
Vector	getEyesCounterVelocity (const Matrix &eyesJ, const Vector &fp)

Protected Attributes
iCubHeadCenter *	neck

iCubInertialSensor *	imu

iKinChain *	chainNeck

iKinChain *	chainEyeL

iKinChain *	chainEyeR

PolyDriver *	drvTorso

PolyDriver *	drvHead

ExchangeData *	commData

Controller *	ctrl

Integrator *	I

mutex	mtx

double	orig_eye_tilt_min

double	orig_eye_tilt_max

double	orig_eye_pan_min

double	orig_eye_pan_max

unsigned int	period

bool	saccadeUnderWayOld

bool	genOn

int	nJointsTorso

int	nJointsHead

int	saccadesRxTargets

double	saccadesClock

double	eyesHalfBaseline

double	Ts

Matrix	orig_lim

Matrix	lim

Vector	fbTorso

Vector	fbHead

Vector	qd

Vector	fp

Matrix	eyesJ

Vector	counterRotGain

Protected Attributes inherited from GazeComponent
iCubEye *	eyeL {nullptr}

iCubEye *	eyeR {nullptr}

Detailed Description

Definition at line 58 of file solver.h.

Constructor & Destructor Documentation

◆ EyePinvRefGen()

EyePinvRefGen::EyePinvRefGen	(	PolyDriver *	_drvTorso,
		PolyDriver *	_drvHead,
		ExchangeData *	_commData,
		Controller *	_ctrl,
		const Vector &	_counterRotGain,
		const unsigned int	_period
	)

Definition at line 27 of file solver.cpp.

◆ ~EyePinvRefGen()

EyePinvRefGen::~EyePinvRefGen ( )

virtual

Definition at line 125 of file solver.cpp.

Member Function Documentation

◆ afterStart()

void EyePinvRefGen::afterStart ( bool s )

override

Definition at line 291 of file solver.cpp.

◆ bindEyes()

bool EyePinvRefGen::bindEyes ( const double ver )

Definition at line 146 of file solver.cpp.

◆ clearEyes()

bool EyePinvRefGen::clearEyes ( )

Definition at line 182 of file solver.cpp.

◆ disable()

void EyePinvRefGen::disable ( )

inline

Definition at line 100 of file solver.h.

◆ enable()

void EyePinvRefGen::enable ( )

inline

Definition at line 99 of file solver.h.

◆ getCounterRotGain()

Vector EyePinvRefGen::getCounterRotGain ( )

Definition at line 218 of file solver.cpp.

◆ getEyesCounterVelocity()

Vector EyePinvRefGen::getEyesCounterVelocity	(	const Matrix &	eyesJ,
		const Vector &	fp
	)

protected

Definition at line 237 of file solver.cpp.

◆ manageBindEyes()

void EyePinvRefGen::manageBindEyes ( const double ver )

Definition at line 210 of file solver.cpp.

◆ minAllowedVergenceChanged()

void EyePinvRefGen::minAllowedVergenceChanged ( )

overridevirtual

Reimplemented from GazeComponent.

Definition at line 136 of file solver.cpp.

◆ resume()

void EyePinvRefGen::resume ( )

Definition at line 452 of file solver.cpp.

◆ run()

void EyePinvRefGen::run ( )

override

Definition at line 301 of file solver.cpp.

◆ setCounterRotGain()

void EyePinvRefGen::setCounterRotGain ( const Vector & gain )

Definition at line 226 of file solver.cpp.

◆ suspend()

void EyePinvRefGen::suspend ( )

Definition at line 444 of file solver.cpp.

◆ threadInit()

bool EyePinvRefGen::threadInit ( )

override

Definition at line 273 of file solver.cpp.

◆ threadRelease()

void EyePinvRefGen::threadRelease ( )

override

Definition at line 285 of file solver.cpp.

Member Data Documentation

◆ chainEyeL

iKinChain * EyePinvRefGen::chainEyeL

protected

Definition at line 63 of file solver.h.

◆ chainEyeR

iKinChain * EyePinvRefGen::chainEyeR

protected

Definition at line 63 of file solver.h.

◆ chainNeck

iKinChain* EyePinvRefGen::chainNeck

protected

Definition at line 63 of file solver.h.

◆ commData

ExchangeData* EyePinvRefGen::commData

protected

Definition at line 65 of file solver.h.

◆ counterRotGain

Vector EyePinvRefGen::counterRotGain

protected

Definition at line 90 of file solver.h.

◆ ctrl

Controller* EyePinvRefGen::ctrl

protected

Definition at line 66 of file solver.h.

◆ drvHead

PolyDriver * EyePinvRefGen::drvHead

protected

Definition at line 64 of file solver.h.

◆ drvTorso

PolyDriver* EyePinvRefGen::drvTorso

protected

Definition at line 64 of file solver.h.

◆ eyesHalfBaseline

double EyePinvRefGen::eyesHalfBaseline

protected

Definition at line 82 of file solver.h.

◆ eyesJ

Matrix EyePinvRefGen::eyesJ

protected

Definition at line 89 of file solver.h.

◆ fbHead

Vector EyePinvRefGen::fbHead

protected

Definition at line 87 of file solver.h.

◆ fbTorso

Vector EyePinvRefGen::fbTorso

protected

Definition at line 86 of file solver.h.

◆ fp

Vector EyePinvRefGen::fp

protected

Definition at line 88 of file solver.h.

◆ genOn

bool EyePinvRefGen::genOn

protected

Definition at line 77 of file solver.h.

◆ I

Integrator* EyePinvRefGen::I

protected

Definition at line 67 of file solver.h.

◆ imu

iCubInertialSensor* EyePinvRefGen::imu

protected

Definition at line 62 of file solver.h.

◆ lim

Matrix EyePinvRefGen::lim

protected

Definition at line 85 of file solver.h.

◆ mtx

mutex EyePinvRefGen::mtx

protected

Definition at line 68 of file solver.h.

◆ neck

iCubHeadCenter* EyePinvRefGen::neck

protected

Definition at line 61 of file solver.h.

◆ nJointsHead

int EyePinvRefGen::nJointsHead

protected

Definition at line 79 of file solver.h.

◆ nJointsTorso

int EyePinvRefGen::nJointsTorso

protected

Definition at line 78 of file solver.h.

◆ orig_eye_pan_max

double EyePinvRefGen::orig_eye_pan_max

protected

Definition at line 73 of file solver.h.

◆ orig_eye_pan_min

double EyePinvRefGen::orig_eye_pan_min

protected

Definition at line 72 of file solver.h.

◆ orig_eye_tilt_max

double EyePinvRefGen::orig_eye_tilt_max

protected

Definition at line 71 of file solver.h.

◆ orig_eye_tilt_min

double EyePinvRefGen::orig_eye_tilt_min

protected

Definition at line 70 of file solver.h.

◆ orig_lim

Matrix EyePinvRefGen::orig_lim

protected

Definition at line 85 of file solver.h.

◆ period

unsigned int EyePinvRefGen::period

protected

Definition at line 75 of file solver.h.

◆ qd

Vector EyePinvRefGen::qd

protected

Definition at line 88 of file solver.h.

◆ saccadesClock

double EyePinvRefGen::saccadesClock

protected

Definition at line 81 of file solver.h.

◆ saccadesRxTargets

int EyePinvRefGen::saccadesRxTargets

protected

Definition at line 80 of file solver.h.

◆ saccadeUnderWayOld

bool EyePinvRefGen::saccadeUnderWayOld

protected

Definition at line 76 of file solver.h.

◆ Ts

double EyePinvRefGen::Ts

protected

Definition at line 83 of file solver.h.

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

icub-main/src/modules/iKinGazeCtrl/include/iCub/solver.h
icub-main/src/modules/iKinGazeCtrl/src/solver.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EyePinvRefGen()

◆ ~EyePinvRefGen()

Member Function Documentation

◆ afterStart()

◆ bindEyes()

◆ clearEyes()

◆ disable()

◆ enable()

◆ getCounterRotGain()

◆ getEyesCounterVelocity()

◆ manageBindEyes()

◆ minAllowedVergenceChanged()

◆ resume()

◆ run()

◆ setCounterRotGain()

◆ suspend()

◆ threadInit()

◆ threadRelease()

Member Data Documentation

◆ chainEyeL

◆ chainEyeR

◆ chainNeck

◆ commData

◆ counterRotGain

◆ ctrl

◆ drvHead

◆ drvTorso

◆ eyesHalfBaseline

◆ eyesJ

◆ fbHead

◆ fbTorso

◆ fp

◆ genOn

◆ I

◆ imu

◆ lim

◆ mtx

◆ neck

◆ nJointsHead

◆ nJointsTorso

◆ orig_eye_pan_max

◆ orig_eye_pan_min

◆ orig_eye_tilt_max

◆ orig_eye_tilt_min

◆ orig_lim

◆ period

◆ qd

◆ saccadesClock

◆ saccadesRxTargets

◆ saccadeUnderWayOld

◆ Ts