RelativeTransform.cpp File Reference

#include "WBToolbox/Block/RelativeTransform.h"
#include "WBToolbox/Base/Configuration.h"
#include "WBToolbox/Base/RobotInterface.h"
#include <BlockFactory/Core/BlockInformation.h>
#include <BlockFactory/Core/Log.h>
#include <BlockFactory/Core/Parameter.h>
#include <BlockFactory/Core/Parameters.h>
#include <BlockFactory/Core/Signal.h>
#include <Eigen/Core>
#include <iDynTree/EigenHelpers.h>
#include <iDynTree/Transform.h>
#include <iDynTree/KinDynComputations.h>
#include <iDynTree/Indices.h>
#include <ostream>

Include dependency graph for RelativeTransform.cpp:

Classes
class	wbt::block::RelativeTransform::impl

Enumerations
enum	ParamIndex {   Bias = Block::NumberOfParameters - 1, WBStruct, ConfBlockName, Bias = Block::NumberOfParameters - 1,   FilterStruct, Bias = wbt::base::WBBlock::NumberOfParameters - 1, Frame, Bias = wbt::base::WBBlock::NumberOfParameters - 1,   Frame, Bias = wbt::base::WBBlock::NumberOfParameters - 1, LimitType, Bias = wbt::base::WBBlock::NumberOfParameters - 1,   MeasType, Bias = wbt::base::WBBlock::NumberOfParameters - 1, Frame, Bias = Block::NumberOfParameters - 1,   SampleTime, SettlingTime, FirstDerivative, SecondDerivative,   ReadInitialValue, ExtSettlingTime, ResetOnChange, Bias = Block::NumberOfParameters - 1,   UseLbA, UseUbA, UseLb, UseUb,   ComputeObjVal, StopWhenFails, AdaptiveRho, Polish,   MaxIterations, Bias = Block::NumberOfParameters - 1, UseLbA, UseUbA,   UseLb, UseUb, ComputeObjVal, StopWhenFails,   Bias = Block::NumberOfParameters - 1, Period, Bias = wbt::base::WBBlock::NumberOfParameters - 1, RefFrame,   Frame, Bias = wbt::base::WBBlock::NumberOfParameters - 1, Frame1, Frame2,   Bias = wbt::base::WBBlock::NumberOfParameters - 1, SetP, SetI, SetD,   PidCtrlType, SetKTau, KTau, SetBemf,   Bemf, Bias = wbt::base::WBBlock::NumberOfParameters - 1, CtrlType, TrajRef,   Bias = Block::NumberOfParameters - 1, Period, GzClkPort, RpcPort,   Bias = Block::NumberOfParameters - 1, PortName, PortSize, WaitData,   ReadTimestamp, Autoconnect, ErrMissingPort, Timeout,   Bias = Block::NumberOfParameters - 1, PortName, Autoconnect, ErrMissingPort }
enum	InputIndex {   BasePose = 0, JointConfiguration, BaseVelocity, JointVelocity,   BasePose = 0, JointConfiguration, InputSignal = 0, BasePose = 0,   JointConfiguration, BaseVelocity, JointVelocity, BasePose = 0,   JointConfiguration, BasePose = 0, JointConfiguration, BaseVelocity,   JointVelocity, BaseAcceleration, JointAcceleration, BasePose = 0,   JointConfiguration, BasePose = 0, JointConfiguration, InputSignal = 0,   Hessian = 0, Gradient, Hessian = 0, Gradient,   JointConfiguration = 0, JointConfiguration = 0, References = 0, Signal = 0 }
enum	OutputIndex {   CentroidalMomentum = 0, CentroidalTotalMomentumMatrix = 0, FilteredSignal = 0, DotJNu = 0,   Transform = 0, MinLimit = 0, MaxLimit, Measurement = 0,   Torques = 0, Jacobian = 0, MassMatrix = 0, FilteredSignal = 0,   PrimalSolution = 0, Status, PrimalSolution = 0, Status,   RelativeJacobian = 0, Transform = 0, Clock = 0, Signal = 0 }

Enumeration Type Documentation

InputIndex

enum InputIndex

Enumerator
BasePose
JointConfiguration
BaseVelocity
JointVelocity
BasePose
JointConfiguration
InputSignal
BasePose
JointConfiguration
BaseVelocity
JointVelocity
BasePose
JointConfiguration
BasePose
JointConfiguration
BaseVelocity
JointVelocity
BaseAcceleration
JointAcceleration
BasePose
JointConfiguration
BasePose
JointConfiguration
InputSignal
Hessian
Gradient
Hessian
Gradient
JointConfiguration
JointConfiguration
References
Signal

OutputIndex

enum OutputIndex

Enumerator
CentroidalMomentum
CentroidalTotalMomentumMatrix
FilteredSignal
DotJNu
Transform
MinLimit
MaxLimit
Measurement
Torques
Jacobian
MassMatrix
FilteredSignal
PrimalSolution
Status
PrimalSolution
Status
RelativeJacobian
Transform
Clock
Signal

ParamIndex

enum ParamIndex

Enumerator
Bias
WBStruct
ConfBlockName
Bias
FilterStruct
Bias
Frame
Bias
Frame
Bias
LimitType
Bias
MeasType
Bias
Frame
Bias
SampleTime
SettlingTime
FirstDerivative
SecondDerivative
ReadInitialValue
ExtSettlingTime
ResetOnChange
Bias
UseLbA
UseUbA
UseLb
UseUb
ComputeObjVal
StopWhenFails
AdaptiveRho
Polish
MaxIterations
Bias
UseLbA
UseUbA
UseLb
UseUb
ComputeObjVal
StopWhenFails
Bias
Period
Bias
RefFrame
Frame
Bias
Frame1
Frame2
Bias
SetP
SetI
SetD
PidCtrlType
SetKTau
KTau
SetBemf
Bemf
Bias
CtrlType
TrajRef
Bias
Period
GzClkPort
RpcPort
Bias
PortName
PortSize
WaitData
ReadTimestamp
Autoconnect
ErrMissingPort
Timeout
Bias
PortName
Autoconnect
ErrMissingPort