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

#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

iCubHeadCenterneck
 
iCubInertialSensorimu
 
iKinChainchainNeck
 
iKinChainchainEyeL
 
iKinChainchainEyeR
 
PolyDriver * drvTorso
 
PolyDriver * drvHead
 
ExchangeDatacommData
 
Controllerctrl
 
IntegratorI
 
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
iCubEyeeyeL {nullptr}
 
iCubEyeeyeR {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: