AnymalStateEstimator
The state estimator for anymal.
anymal_state_estimator::ContactWrenchInterface Class Referenceabstract

#include <ContactWrenchInterface.hpp>

Inheritance diagram for anymal_state_estimator::ContactWrenchInterface:
Inheritance graph

Public Types

using WrenchShm = any_measurements::Wrench
 
using WrenchRos = geometry_msgs::WrenchStamped
 

Public Member Functions

 ContactWrenchInterface ()=delete
 
 ContactWrenchInterface (std::string name, const double maxTimeout)
 
virtual ~ContactWrenchInterface ()=default
 
virtual void init ()=0
 
virtual void update ()=0
 
ros::Time getRosTime () const
 
any_measurements::Time getTime () const
 
WrenchShm getWrench () const
 
void getWrench (WrenchShm &wrench) const
 
virtual bool hasTimeout (const double lastTime) const
 

Protected Attributes

std::string name_
 
boost::shared_mutex mutexWrench_
 
WrenchShm wrench_
 
const double maxTimeout_
 
bool hasWrench_
 

Member Typedef Documentation

◆ WrenchRos

using anymal_state_estimator::ContactWrenchInterface::WrenchRos = geometry_msgs::WrenchStamped

◆ WrenchShm

Constructor & Destructor Documentation

◆ ContactWrenchInterface() [1/2]

anymal_state_estimator::ContactWrenchInterface::ContactWrenchInterface ( )
delete

◆ ContactWrenchInterface() [2/2]

anymal_state_estimator::ContactWrenchInterface::ContactWrenchInterface ( std::string  name,
const double  maxTimeout 
)
inline

◆ ~ContactWrenchInterface()

virtual anymal_state_estimator::ContactWrenchInterface::~ContactWrenchInterface ( )
virtualdefault

Member Function Documentation

◆ getRosTime()

ros::Time anymal_state_estimator::ContactWrenchInterface::getRosTime ( ) const
inline

◆ getTime()

any_measurements::Time anymal_state_estimator::ContactWrenchInterface::getTime ( ) const
inline

◆ getWrench() [1/2]

WrenchShm anymal_state_estimator::ContactWrenchInterface::getWrench ( ) const
inline

◆ getWrench() [2/2]

void anymal_state_estimator::ContactWrenchInterface::getWrench ( WrenchShm wrench) const
inline

◆ hasTimeout()

virtual bool anymal_state_estimator::ContactWrenchInterface::hasTimeout ( const double  lastTime) const
inlinevirtual

◆ init()

◆ update()

Member Data Documentation

◆ hasWrench_

bool anymal_state_estimator::ContactWrenchInterface::hasWrench_
protected

◆ maxTimeout_

const double anymal_state_estimator::ContactWrenchInterface::maxTimeout_
protected

◆ mutexWrench_

boost::shared_mutex anymal_state_estimator::ContactWrenchInterface::mutexWrench_
mutableprotected

◆ name_

std::string anymal_state_estimator::ContactWrenchInterface::name_
protected

◆ wrench_

WrenchShm anymal_state_estimator::ContactWrenchInterface::wrench_
protected

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