OKR Class Reference

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

+ Inheritance diagram for OKR:

Public Member Functions

std::string getName () const override
 OKR (int interval)
void reportJointAngles (const NameValueMap &values, bool valueChanged, const Ice::Current &c)
void reportJointVelocities (const NameValueMap &values, bool valueChanged, long timestamp, const Ice::Current &c)
void reportNewOpticalFlow (float x, float y, float deltaT, long timestamp)
void reportNewTrackingError (Ice::Float pixelX, Ice::Float pixelY, Ice::Float angleX, Ice::Float angleY)
void setBools (bool armar4, bool velocityBased)
void setJointNames (std::string eye_pitch_left, std::string eye_pitch_right, std::string eye_yaw_left, std::string eye_yaw_right, std::string neck_roll)
void setPIDValues (float kp, float ki, float kd)
 ~OKR () override
- Public Member Functions inherited from Reflex
std::map< std::string, floatgetJoints ()
float getWeight () const
 Reflex (int interval)
void setEnabled (bool enabled)
void setWeight (float weight)
void start ()
void stop ()
virtual ~Reflex ()

Additional Inherited Members

- Protected Member Functions inherited from Reflex
Eigen::Vector3f quaternionToRPY (Eigen::Quaternionf q)
- Protected Attributes inherited from Reflex
int interval
bool isEnabled
std::map< std::string, floatjointAngles
std::mutex mutex
std::string name
IceUtil::Time updateTime

Detailed Description

Definition at line 33 of file okr.h.

Constructor & Destructor Documentation

◆ OKR()

OKR ( int  interval)

Definition at line 36 of file okr.h.

◆ ~OKR()

~OKR ( )

Definition at line 40 of file okr.h.

Member Function Documentation

◆ getName()

std::string getName ( ) const

Implements Reflex.

Definition at line 42 of file okr.h.

◆ reportJointAngles()

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

Definition at line 205 of file okr.cpp.

◆ reportJointVelocities()

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

Definition at line 214 of file okr.cpp.

◆ reportNewOpticalFlow()

void reportNewOpticalFlow ( float  x,
float  y,
float  deltaT,
long  timestamp 

Definition at line 227 of file okr.cpp.

◆ reportNewTrackingError()

void reportNewTrackingError ( Ice::Float  pixelX,
Ice::Float  pixelY,
Ice::Float  angleX,
Ice::Float  angleY 

Definition at line 239 of file okr.cpp.

◆ setBools()

void setBools ( bool  armar4,
bool  velocityBased 

Definition at line 175 of file okr.cpp.

◆ setJointNames()

void setJointNames ( std::string  eye_pitch_left,
std::string  eye_pitch_right,
std::string  eye_yaw_left,
std::string  eye_yaw_right,
std::string  neck_roll 

Definition at line 156 of file okr.cpp.

◆ setPIDValues()

void setPIDValues ( float  kp,
float  ki,
float  kd 

Definition at line 166 of file okr.cpp.

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