List of all members | Public Member Functions | Public Attributes | Protected Member Functions
FeedforwardReflex Class Reference

#include <RobotComponents/components/ReflexCombination/feedforward.h>

+ Inheritance diagram for FeedforwardReflex:

Public Member Functions

 FeedforwardReflex (int interval)
 
std::string getName () const override
 
void reportHeadTargetChanged (const NameValueMap &targetJointAngles, const FramedPositionBasePtr &targetPosition)
 
void reportJointAngles (const NameValueMap &values, bool valueChanged, const Ice::Current &c)
 
void reportJointVelocities (const NameValueMap &values, bool valueChanged, const Ice::Current &c)
 
void reportPlatformVelocity (float x, float y, float a)
 
void setBools (bool armar4, bool velocityBased)
 
void setRobot (std::string nodeSetName, std::string headIKName, RobotStateComponentInterfacePrx robotStateComponent)
 
bool update_input_fromArmarX (GazeStabInput *gs_input)
 
void update_output_toArmarX (GazeStabOutput *gs_output)
 
 ~FeedforwardReflex () override
 
- Public Member Functions inherited from Reflex
std::map< std::string, float > getJoints ()
 
float getWeight () const
 
 Reflex (int interval)
 
void setEnabled (bool enabled)
 
void setWeight (float weight)
 
void start ()
 
void stop ()
 
virtual ~Reflex ()
 

Public Attributes

std::vector< float > gyroscopeRotation_pred
 
double mean_optFl_pred
 
std::vector< float > optFlow_pred
 

Protected Member Functions

void calc () override
 
void onStop () override
 
- Protected Member Functions inherited from Reflex
Eigen::Vector3f quaternionToRPY (Eigen::Quaternionf q)
 

Additional Inherited Members

- Protected Attributes inherited from Reflex
int interval
 
bool isEnabled
 
std::map< std::string, float > jointAngles
 
std::mutex mutex
 
std::string name
 
IceUtil::Time updateTime
 

Detailed Description

Definition at line 46 of file feedforward.h.

Constructor & Destructor Documentation

◆ FeedforwardReflex()

FeedforwardReflex ( int  interval)
inline

Definition at line 49 of file feedforward.h.

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◆ ~FeedforwardReflex()

~FeedforwardReflex ( )
inlineoverride

Definition at line 59 of file feedforward.h.

Member Function Documentation

◆ calc()

void calc ( )
overrideprotectedvirtual

Implements Reflex.

Definition at line 28 of file feedforward.cpp.

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◆ getName()

std::string getName ( ) const
inlineoverridevirtual

Implements Reflex.

Definition at line 84 of file feedforward.h.

◆ onStop()

void onStop ( )
overrideprotectedvirtual

Implements Reflex.

Definition at line 285 of file feedforward.cpp.

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◆ reportHeadTargetChanged()

void reportHeadTargetChanged ( const NameValueMap &  targetJointAngles,
const FramedPositionBasePtr &  targetPosition 
)

Definition at line 273 of file feedforward.cpp.

◆ reportJointAngles()

void reportJointAngles ( const NameValueMap &  values,
bool  valueChanged,
const Ice::Current &  c 
)

Definition at line 247 of file feedforward.cpp.

◆ reportJointVelocities()

void reportJointVelocities ( const NameValueMap &  values,
bool  valueChanged,
const Ice::Current &  c 
)

Definition at line 256 of file feedforward.cpp.

◆ reportPlatformVelocity()

void reportPlatformVelocity ( float  x,
float  y,
float  a 
)

Definition at line 264 of file feedforward.cpp.

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◆ setBools()

void setBools ( bool  armar4,
bool  velocityBased 
)

Definition at line 239 of file feedforward.cpp.

◆ setRobot()

void setRobot ( std::string  nodeSetName,
std::string  headIKName,
RobotStateComponentInterfacePrx  robotStateComponent 
)

Definition at line 49 of file feedforward.cpp.

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◆ update_input_fromArmarX()

bool update_input_fromArmarX ( GazeStabInput *  gs_input)

Definition at line 102 of file feedforward.cpp.

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◆ update_output_toArmarX()

void update_output_toArmarX ( GazeStabOutput *  gs_output)

Definition at line 212 of file feedforward.cpp.

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Member Data Documentation

◆ gyroscopeRotation_pred

std::vector<float> gyroscopeRotation_pred

Definition at line 92 of file feedforward.h.

◆ mean_optFl_pred

double mean_optFl_pred

Definition at line 91 of file feedforward.h.

◆ optFlow_pred

std::vector<float> optFlow_pred

Definition at line 90 of file feedforward.h.

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