AnymalStateEstimator
The state estimator for anymal.
anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ > Class Template Reference

#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 RobotModelrobotModel_
 
- 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
template<typename ConcreteDescription_ , typename RobotState_ >
void anymal_state_estimator::ContactWrenchReceiver< ConcreteDescription_, RobotState_ >::update ( )
inlineoverridevirtual

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: