dg_tools
Public Member Functions | Public Attributes | Static Public Attributes | Protected Member Functions | Protected Attributes | List of all members
dynamicgraph::sot::Calibrator Class Reference
Inheritance diagram for dynamicgraph::sot::Calibrator:
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Public Member Functions

 Calibrator (const std::string &name)
 
virtual void display (std::ostream &os) const
 
virtual const std::string & getClassName (void) const
 

Public Attributes

SignalPtr< dg::Vector, int > positionSIN
 
SignalPtr< dg::Vector, int > velocitySIN
 
SignalPtr< dg::Vector, int > calibration_torqueSIN
 
SignalPtr< dg::Vector, int > hardstop2zeroSIN
 
SignalTimeDependent< dg::Vector, int > positionSOUT
 
SignalTimeDependent< dg::Vector, int > controlSOUT
 
SignalTimeDependent< int, int > calibrated_flagSOUT
 

Static Public Attributes

static const double TIME_STEP_DEFAULT = .001
 
static const std::string CLASS_NAME
 

Protected Member Functions

double & setsize (int dimension)
 
dg::Vector & calibrate (dg::Vector &tau, int t)
 
dg::Vector & compute_position (dg::Vector &pos, int t)
 
int & is_calibrated (int &calibrated_flag, int t)
 

Protected Attributes

double TimeStep
 
double _dimension
 
SignalTimeDependent< int, int > internal_signal_refresher_
 
int threshold_time
 
double threshold_velocity
 
int t_start
 
int init_flag
 
int num_joints
 
int calibrated_flag_
 
dg::Vector calibrated
 
dg::Vector des_vel
 
dg::Vector error
 
dg::Vector start2hardstop
 
The documentation for this class was generated from the following files: