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Public Member Functions | Public Attributes | List of all members
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)
 
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 
)

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 1159 of file observerThread.cpp.

◆ calibrateOffset()

void inverseDynamics::calibrateOffset ( calib_enum  calib_code = CALIB_ALL)

Definition at line 1179 of file observerThread.cpp.

◆ closePort()

void inverseDynamics::closePort ( Contactable *  _port)

Definition at line 1147 of file observerThread.cpp.

◆ getLowerEncodersSpeedAndAcceleration()

bool inverseDynamics::getLowerEncodersSpeedAndAcceleration ( )

Definition at line 1415 of file observerThread.cpp.

◆ getThreadStatus()

thread_status_enum inverseDynamics::getThreadStatus ( )
inline

Definition at line 315 of file observerThread.h.

◆ getUpperEncodersSpeedAndAcceleration()

bool inverseDynamics::getUpperEncodersSpeedAndAcceleration ( )

Definition at line 1452 of file observerThread.cpp.

◆ readAndUpdate()

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

Definition at line 1252 of file observerThread.cpp.

◆ run()

void inverseDynamics::run ( )
override

Definition at line 541 of file observerThread.cpp.

◆ sendMonitorData()

void inverseDynamics::sendMonitorData ( )

Definition at line 1589 of file observerThread.cpp.

◆ sendVelAccData()

void inverseDynamics::sendVelAccData ( )

Definition at line 1627 of file observerThread.cpp.

◆ setStiffMode()

void inverseDynamics::setStiffMode ( )

Definition at line 179 of file observerThread.cpp.

◆ setZeroJntAngVelAcc()

void inverseDynamics::setZeroJntAngVelAcc ( )

Definition at line 1542 of file observerThread.cpp.

◆ threadInit()

bool inverseDynamics::threadInit ( )
override

Definition at line 477 of file observerThread.cpp.

◆ threadRelease()

void inverseDynamics::threadRelease ( )
override

Definition at line 1010 of file observerThread.cpp.

◆ writeTorque()

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

Definition at line 1169 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.


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