visual-tracking-control
Public Member Functions | Protected Member Functions | Protected Attributes | Private Attributes | List of all members
iCubFwdKinModel Class Reference

#include <iCubFwdKinModel.h>

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Public Member Functions

 iCubFwdKinModel (const yarp::os::ConstString &robot, const yarp::os::ConstString &laterality, const yarp::os::ConstString &port_prefix)
 
 ~iCubFwdKinModel () noexcept
 
bool setProperty (const std::string &property) override
 
void propagate (const Eigen::Ref< const Eigen::MatrixXf > &cur_state, Eigen::Ref< Eigen::MatrixXf > prop_state) override
 
Eigen::MatrixXf getExogenousMatrix () override
 

Protected Member Functions

Eigen::VectorXd readPose () override
 
yarp::sig::Vector readTorso ()
 
yarp::sig::Vector readRootToEE ()
 
bool setDeltaMotion ()
 

Protected Attributes

yarp::dev::PolyDriver drv_arm_enc_
 
yarp::dev::PolyDriver drv_torso_enc_
 
yarp::dev::IEncoders * itf_arm_enc_
 
yarp::dev::IEncoders * itf_torso_enc_
 
iCub::iKin::iCubArm icub_kin_arm_
 
bool initialize_delta_ = true
 

Private Attributes

yarp::os::ConstString ID_ = "iCubFwdKinModel"
 
yarp::os::ConstString log_ID_ = "[" + ID_ + "]"
 
yarp::os::ConstString robot_
 
yarp::os::ConstString laterality_
 
yarp::os::ConstString port_prefix_
 

Detailed Description

Definition at line 13 of file iCubFwdKinModel.h.

Constructor & Destructor Documentation

◆ iCubFwdKinModel()

iCubFwdKinModel::iCubFwdKinModel ( const yarp::os::ConstString &  robot,
const yarp::os::ConstString &  laterality,
const yarp::os::ConstString &  port_prefix 
)

Definition at line 23 of file iCubFwdKinModel.cpp.

References drv_arm_enc_, drv_torso_enc_, icub_kin_arm_, ID_, itf_arm_enc_, itf_torso_enc_, laterality_, log_ID_, and robot_.

◆ ~iCubFwdKinModel()

iCubFwdKinModel::~iCubFwdKinModel ( )
noexcept

Definition at line 98 of file iCubFwdKinModel.cpp.

References drv_arm_enc_, and drv_torso_enc_.

Member Function Documentation

◆ getExogenousMatrix()

MatrixXf FwdKinModel::getExogenousMatrix ( )
overrideinherited

Definition at line 47 of file FwdKinModel.cpp.

◆ propagate()

void FwdKinModel::propagate ( const Eigen::Ref< const Eigen::MatrixXf > &  cur_state,
Eigen::Ref< Eigen::MatrixXf >  prop_state 
)
overrideinherited

Definition at line 28 of file FwdKinModel.cpp.

◆ readPose()

VectorXd iCubFwdKinModel::readPose ( )
overrideprotectedvirtual

Implements FwdKinModel.

Definition at line 111 of file iCubFwdKinModel.cpp.

References icub_kin_arm_, and readRootToEE().

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◆ readRootToEE()

Vector iCubFwdKinModel::readRootToEE ( )
protected

Definition at line 133 of file iCubFwdKinModel.cpp.

References itf_arm_enc_, and readTorso().

Referenced by readPose().

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◆ readTorso()

Vector iCubFwdKinModel::readTorso ( )
protected

Definition at line 119 of file iCubFwdKinModel.cpp.

References itf_torso_enc_.

Referenced by readRootToEE().

◆ setDeltaMotion()

bool FwdKinModel::setDeltaMotion ( )
protectedinherited

Definition at line 71 of file FwdKinModel.cpp.

◆ setProperty()

bool iCubFwdKinModel::setProperty ( const std::string &  property)
override

Definition at line 105 of file iCubFwdKinModel.cpp.

References FwdKinModel::setProperty().

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Member Data Documentation

◆ drv_arm_enc_

yarp::dev::PolyDriver iCubFwdKinModel::drv_arm_enc_
protected

Definition at line 29 of file iCubFwdKinModel.h.

Referenced by iCubFwdKinModel(), and ~iCubFwdKinModel().

◆ drv_torso_enc_

yarp::dev::PolyDriver iCubFwdKinModel::drv_torso_enc_
protected

Definition at line 30 of file iCubFwdKinModel.h.

Referenced by iCubFwdKinModel(), and ~iCubFwdKinModel().

◆ icub_kin_arm_

iCub::iKin::iCubArm iCubFwdKinModel::icub_kin_arm_
protected

Definition at line 33 of file iCubFwdKinModel.h.

Referenced by iCubFwdKinModel(), and readPose().

◆ ID_

yarp::os::ConstString iCubFwdKinModel::ID_ = "iCubFwdKinModel"
private

Definition at line 36 of file iCubFwdKinModel.h.

Referenced by iCubFwdKinModel().

◆ initialize_delta_

bool FwdKinModel::initialize_delta_ = true
protectedinherited

Definition at line 28 of file FwdKinModel.h.

◆ itf_arm_enc_

yarp::dev::IEncoders* iCubFwdKinModel::itf_arm_enc_
protected

Definition at line 31 of file iCubFwdKinModel.h.

Referenced by iCubFwdKinModel(), and readRootToEE().

◆ itf_torso_enc_

yarp::dev::IEncoders* iCubFwdKinModel::itf_torso_enc_
protected

Definition at line 32 of file iCubFwdKinModel.h.

Referenced by iCubFwdKinModel(), and readTorso().

◆ laterality_

yarp::os::ConstString iCubFwdKinModel::laterality_
private

Definition at line 40 of file iCubFwdKinModel.h.

Referenced by iCubFwdKinModel().

◆ log_ID_

yarp::os::ConstString iCubFwdKinModel::log_ID_ = "[" + ID_ + "]"
private

Definition at line 37 of file iCubFwdKinModel.h.

Referenced by iCubFwdKinModel().

◆ port_prefix_

yarp::os::ConstString iCubFwdKinModel::port_prefix_
private

Definition at line 41 of file iCubFwdKinModel.h.

◆ robot_

yarp::os::ConstString iCubFwdKinModel::robot_
private

Definition at line 39 of file iCubFwdKinModel.h.

Referenced by iCubFwdKinModel().

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