inverseDynamics Class Reference

#include <observerThread.h>

Inheritance diagram for inverseDynamics:

Public Member Functions
	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)
bool	threadInit () override
void	setStiffMode ()
thread_status_enum	getThreadStatus ()
void	run () override
void	threadRelease () override
void	closePort (Contactable *_port)
void	writeTorque (Vector _values, int _address, BufferedPort< Bottle > *_port)
template<class T>
void	broadcastData (T &_values, BufferedPort< T > *_port)
void	calibrateOffset (calib_enum calib_code=CALIB_ALL)
bool	readAndUpdate (bool waitMeasure=false, bool _init=false)
bool	getLowerEncodersSpeedAndAcceleration ()
bool	getUpperEncodersSpeedAndAcceleration ()
void	setZeroJntAngVelAcc ()
void	sendMonitorData ()
void	sendVelAccData ()

Public Attributes
bool	com_enabled
bool	com_vel_enabled
bool	dummy_ft
bool	w0_dw0_enabled
bool	dumpvel_enabled
bool	auto_drift_comp
bool	default_ee_cont
bool	add_legs_once

Detailed Description

Definition at line 129 of file observerThread.h.

Constructor & Destructor Documentation

inverseDynamics()

inverseDynamics::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 )

Definition at line 253 of file observerThread.cpp.

Member Function Documentation

broadcastData()

template<class T>

void inverseDynamics::broadcastData	(	T &	_values,
		BufferedPort< T > *	_port )

Definition at line 1137 of file observerThread.cpp.

calibrateOffset()

void inverseDynamics::calibrateOffset

(

calib_enum

calib_code = CALIB_ALL

)

Definition at line 1157 of file observerThread.cpp.

closePort()

void inverseDynamics::closePort

(

Contactable *

_port

)

Definition at line 1125 of file observerThread.cpp.

getLowerEncodersSpeedAndAcceleration()

bool inverseDynamics::getLowerEncodersSpeedAndAcceleration

(

)

Definition at line 1344 of file observerThread.cpp.

getThreadStatus()

thread_status_enum inverseDynamics::getThreadStatus ( )

inline

Definition at line 321 of file observerThread.h.

getUpperEncodersSpeedAndAcceleration()

bool inverseDynamics::getUpperEncodersSpeedAndAcceleration

(

)

Definition at line 1381 of file observerThread.cpp.

readAndUpdate()

bool inverseDynamics::readAndUpdate	(	bool	waitMeasure = false,
		bool	_init = false )

Definition at line 1230 of file observerThread.cpp.

run()

void inverseDynamics::run ( )

override

Definition at line 531 of file observerThread.cpp.

sendMonitorData()

void inverseDynamics::sendMonitorData

(

)

Definition at line 1518 of file observerThread.cpp.

sendVelAccData()

void inverseDynamics::sendVelAccData

(

)

Definition at line 1556 of file observerThread.cpp.

setStiffMode()

void inverseDynamics::setStiffMode

(

)

Definition at line 179 of file observerThread.cpp.

setZeroJntAngVelAcc()

void inverseDynamics::setZeroJntAngVelAcc

(

)

Definition at line 1471 of file observerThread.cpp.

threadInit()

bool inverseDynamics::threadInit ( )

override

Definition at line 467 of file observerThread.cpp.

threadRelease()

void inverseDynamics::threadRelease ( )

override

Definition at line 1000 of file observerThread.cpp.

writeTorque()

void inverseDynamics::writeTorque	(	Vector	_values,
		int	_address,
		BufferedPort< Bottle > *	_port )

Definition at line 1147 of file observerThread.cpp.

Member Data Documentation

add_legs_once

bool inverseDynamics::add_legs_once

Definition at line 139 of file observerThread.h.

auto_drift_comp

bool inverseDynamics::auto_drift_comp

Definition at line 137 of file observerThread.h.

com_enabled

bool inverseDynamics::com_enabled

Definition at line 132 of file observerThread.h.

com_vel_enabled

bool inverseDynamics::com_vel_enabled

Definition at line 133 of file observerThread.h.

default_ee_cont

bool inverseDynamics::default_ee_cont

Definition at line 138 of file observerThread.h.

dummy_ft

bool inverseDynamics::dummy_ft

Definition at line 134 of file observerThread.h.

dumpvel_enabled

bool inverseDynamics::dumpvel_enabled

Definition at line 136 of file observerThread.h.

w0_dw0_enabled

bool inverseDynamics::w0_dw0_enabled

Definition at line 135 of file observerThread.h.

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

• icub-main/src/modules/wholeBodyDynamics/observerThread.h
• icub-main/src/modules/wholeBodyDynamics/observerThread.cpp