#include <observerThread.h>
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| inverseDynamics (int _rate, PolyDriver *_ddAL, PolyDriver *_ddAR, PolyDriver *_ddH, PolyDriver *_ddLL, PolyDriver *_ddLR, PolyDriver *_ddT, string _robot_name, string _local_name, version_tag icub_type, bool _autoconnect=false, ISixAxisForceTorqueSensors *m_left_arm_FT=nullptr, ISixAxisForceTorqueSensors *m_right_arm_FT=nullptr, ISixAxisForceTorqueSensors *m_left_leg_FT=nullptr, ISixAxisForceTorqueSensors *m_right_leg_FT=nullptr) |
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bool | threadInit () override |
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void | setStiffMode () |
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thread_status_enum | getThreadStatus () |
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void | run () override |
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void | threadRelease () override |
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void | closePort (Contactable *_port) |
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void | writeTorque (Vector _values, int _address, BufferedPort< Bottle > *_port) |
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template<class T > |
void | broadcastData (T &_values, BufferedPort< T > *_port) |
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void | calibrateOffset (calib_enum calib_code=CALIB_ALL) |
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bool | readAndUpdate (bool waitMeasure=false, bool _init=false) |
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bool | getLowerEncodersSpeedAndAcceleration () |
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bool | getUpperEncodersSpeedAndAcceleration () |
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void | setZeroJntAngVelAcc () |
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void | sendMonitorData () |
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void | sendVelAccData () |
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Definition at line 129 of file observerThread.h.
◆ inverseDynamics()
inverseDynamics::inverseDynamics |
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int |
_rate, |
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PolyDriver * |
_ddAL, |
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PolyDriver * |
_ddAR, |
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PolyDriver * |
_ddH, |
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PolyDriver * |
_ddLL, |
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PolyDriver * |
_ddLR, |
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PolyDriver * |
_ddT, |
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string |
_robot_name, |
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string |
_local_name, |
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version_tag |
icub_type, |
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bool |
_autoconnect = false , |
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ISixAxisForceTorqueSensors * |
m_left_arm_FT = nullptr , |
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ISixAxisForceTorqueSensors * |
m_right_arm_FT = nullptr , |
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ISixAxisForceTorqueSensors * |
m_left_leg_FT = nullptr , |
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ISixAxisForceTorqueSensors * |
m_right_leg_FT = nullptr |
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) |
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◆ broadcastData()
void inverseDynamics::broadcastData |
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T & |
_values, |
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BufferedPort< T > * |
_port |
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◆ calibrateOffset()
◆ closePort()
void inverseDynamics::closePort |
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Contactable * |
_port | ) |
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◆ getLowerEncodersSpeedAndAcceleration()
bool inverseDynamics::getLowerEncodersSpeedAndAcceleration |
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◆ getThreadStatus()
◆ getUpperEncodersSpeedAndAcceleration()
bool inverseDynamics::getUpperEncodersSpeedAndAcceleration |
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◆ readAndUpdate()
bool inverseDynamics::readAndUpdate |
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bool |
waitMeasure = false , |
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bool |
_init = false |
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) |
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◆ run()
void inverseDynamics::run |
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override |
◆ sendMonitorData()
void inverseDynamics::sendMonitorData |
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◆ sendVelAccData()
void inverseDynamics::sendVelAccData |
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◆ setStiffMode()
void inverseDynamics::setStiffMode |
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◆ setZeroJntAngVelAcc()
void inverseDynamics::setZeroJntAngVelAcc |
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◆ threadInit()
bool inverseDynamics::threadInit |
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override |
◆ threadRelease()
void inverseDynamics::threadRelease |
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override |
◆ writeTorque()
void inverseDynamics::writeTorque |
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Vector |
_values, |
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int |
_address, |
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BufferedPort< Bottle > * |
_port |
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) |
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◆ add_legs_once
bool inverseDynamics::add_legs_once |
◆ auto_drift_comp
bool inverseDynamics::auto_drift_comp |
◆ com_enabled
bool inverseDynamics::com_enabled |
◆ com_vel_enabled
bool inverseDynamics::com_vel_enabled |
◆ default_ee_cont
bool inverseDynamics::default_ee_cont |
◆ dummy_ft
bool inverseDynamics::dummy_ft |
◆ dumpvel_enabled
bool inverseDynamics::dumpvel_enabled |
◆ w0_dw0_enabled
bool inverseDynamics::w0_dw0_enabled |
The documentation for this class was generated from the following files: