AnymalStateEstimator: anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ > Class Template Reference

AnymalStateEstimator

The state estimator for anymal.

#include <ContactWrenchReceiver.hpp>

Inheritance diagram for anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >:

Inheritance graph

Public Types
using	RobotModel = romo::RobotModel< ConcreteDescription_, RobotState_ >

using	RD = typename RobotModel::RD

using	BodyEnum = typename RD::BodyEnum

using	WrenchShm = any_measurements::Wrench

using	WrenchRos = geometry_msgs::WrenchStamped

Public Types inherited from anymal_state_estimator::ContactWrenchInterface
using	WrenchShm = any_measurements::Wrench

using	WrenchRos = geometry_msgs::WrenchStamped

Public Member Functions
	ContactWrenchReceiver ()=delete

	ContactWrenchReceiver (const std::string &name, const BodyEnum bodyEnum, const double maxTimeout, const RobotModel &robotModel, ros::NodeHandle &nh)

	~ContactWrenchReceiver () override=default

void	callback (const WrenchShm &wrench)

void	init () override

void	update () override

Public Member Functions inherited from anymal_state_estimator::ContactWrenchInterface
	ContactWrenchInterface ()=delete

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

virtual	~ContactWrenchInterface ()=default

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
cosmo_ros::SubscriberRosPtr< WrenchShm, WrenchRos, any_measurements_ros::ConversionTraits >	subscriber_

const BodyEnum	bodyEnum_

const RobotModel &	robotModel_

Protected Attributes inherited from anymal_state_estimator::ContactWrenchInterface
std::string	name_

boost::shared_mutex	mutexWrench_

WrenchShm	wrench_

const double	maxTimeout_

bool	hasWrench_

Member Typedef Documentation

template<typename ConcreteDescription_ , typename RobotState_ >

using anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::BodyEnum = typename RD::BodyEnum

template<typename ConcreteDescription_ , typename RobotState_ >

using anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::RD = typename RobotModel::RD

template<typename ConcreteDescription_ , typename RobotState_ >

using anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::RobotModel = romo::RobotModel<ConcreteDescription_, RobotState_>

template<typename ConcreteDescription_ , typename RobotState_ >

using anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::WrenchRos = geometry_msgs::WrenchStamped

template<typename ConcreteDescription_ , typename RobotState_ >

using anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::WrenchShm = any_measurements::Wrench

Constructor & Destructor Documentation

template<typename ConcreteDescription_ , typename RobotState_ >

anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::ContactWrenchReceiver ( )

delete

template<typename ConcreteDescription_ , typename RobotState_ >

anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::ContactWrenchReceiver	(	const std::string &	name,
		const BodyEnum	bodyEnum,
		const double	maxTimeout,
		const RobotModel &	robotModel,
		ros::NodeHandle &	nh
	)

inline

template<typename ConcreteDescription_ , typename RobotState_ >

anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::~ContactWrenchReceiver ( )

overridedefault

Member Function Documentation

template<typename ConcreteDescription_ , typename RobotState_ >

void anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::callback ( const WrenchShm & wrench )

inline

template<typename ConcreteDescription_ , typename RobotState_ >

void anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::init ( )

inlineoverridevirtual

Implements anymal_state_estimator::ContactWrenchInterface.

template<typename ConcreteDescription_ , typename RobotState_ >

void anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::update ( )

inlineoverridevirtual

Implements anymal_state_estimator::ContactWrenchInterface.

Member Data Documentation

template<typename ConcreteDescription_ , typename RobotState_ >

const BodyEnum anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::bodyEnum_

protected

template<typename ConcreteDescription_ , typename RobotState_ >

const RobotModel& anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::robotModel_

protected

template<typename ConcreteDescription_ , typename RobotState_ >

cosmo_ros::SubscriberRosPtr<WrenchShm, WrenchRos, any_measurements_ros::ConversionTraits> anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::subscriber_

protected

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

ContactWrenchReceiver.hpp