forwardPredictor.h
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#pragma once
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#include "
symbolic_routines/mbs_sensor2.h
"
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#include <vector>
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namespace
armarx
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{
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class
ForwardPredictor
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{
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public
:
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ForwardPredictor
();
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~ForwardPredictor
();
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std::vector<float>
getOptFlowPred
();
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std::vector<float>
getIMUPred
();
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private
:
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void
calc();
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void
predict_IMU();
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void
predict_optFlow();
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MbsSensor
sens_virt, sens_eye, sens_head_imu;
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// input
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// output
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// head IMU prediction
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//std::vector<float> orientationQuaternion;
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std::vector<float> gyroscopeRotation_pred;
// head velocity in absolute frame (x,y,z) [rad/s]
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// optical flow prediction
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std::vector<float> optFlow_pred;
// [x, y] in [deg/s]
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};
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}
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armarx::ForwardPredictor::getOptFlowPred
std::vector< float > getOptFlowPred()
mbs_sensor2.h
armarx::ForwardPredictor::~ForwardPredictor
~ForwardPredictor()
armarx::ForwardPredictor::ForwardPredictor
ForwardPredictor()
armarx::ForwardPredictor::getIMUPred
std::vector< float > getIMUPred()
MbsSensor
Definition:
mbs_sensor2.h:17
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition:
ArmarXTimeserver.cpp:28
armarx::ForwardPredictor
Definition:
forwardPredictor.h:11
RobotComponents
components
Feedforward
forwardPredictor.h
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