LocalGuidance
A library that generates velocity references to follow a path.
robot_utils::AverageForceCalibrator::Config Class Reference

#include <AverageForceCalibrator.hpp>

Public Member Functions

 Config ()
 
virtual ~Config ()=default
 

Public Attributes

bool calibrateAfterSampling_ = true
 
unsigned int numSamples_ = 1000u
 
unsigned int minNumGoodSamples_ = 500u
 
double alphaFilterForce_ = 1.0
 
double alphaFilterTorque_ = 1.0
 
bool enableOutlierDetectorForce_ = true
 
bool enableOutlierDetectorTorque_ = true
 
bool enableForceClamp_ = true
 
double lowerForceThreshold_ = -100.0
 
double upperForceThreshold_ = 100.0
 
double outlierDetectionMaxMahalanobisDistanceForce_ = 1.0e18
 
double outlierDetectionMaxMahalanobisDistanceTorque_ = 1.0e18
 
kindr::WrenchD outlierDetectionVariance_ = kindr::WrenchD( kindr::Force3D(1.0, 1.0, 1.0), kindr::Torque3D(1.0, 1.0, 1.0))
 

Friends

std::ostream & operator<< (std::ostream &out, const Config &config)
 

Constructor & Destructor Documentation

◆ Config()

robot_utils::AverageForceCalibrator::Config::Config ( )
inline

◆ ~Config()

virtual robot_utils::AverageForceCalibrator::Config::~Config ( )
virtualdefault

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<< ( std::ostream &  out,
const Config config 
)
friend

Member Data Documentation

◆ alphaFilterForce_

double robot_utils::AverageForceCalibrator::Config::alphaFilterForce_ = 1.0

◆ alphaFilterTorque_

double robot_utils::AverageForceCalibrator::Config::alphaFilterTorque_ = 1.0

◆ calibrateAfterSampling_

bool robot_utils::AverageForceCalibrator::Config::calibrateAfterSampling_ = true

◆ enableForceClamp_

bool robot_utils::AverageForceCalibrator::Config::enableForceClamp_ = true

◆ enableOutlierDetectorForce_

bool robot_utils::AverageForceCalibrator::Config::enableOutlierDetectorForce_ = true

◆ enableOutlierDetectorTorque_

bool robot_utils::AverageForceCalibrator::Config::enableOutlierDetectorTorque_ = true

◆ lowerForceThreshold_

double robot_utils::AverageForceCalibrator::Config::lowerForceThreshold_ = -100.0

◆ minNumGoodSamples_

unsigned int robot_utils::AverageForceCalibrator::Config::minNumGoodSamples_ = 500u

◆ numSamples_

unsigned int robot_utils::AverageForceCalibrator::Config::numSamples_ = 1000u

◆ outlierDetectionMaxMahalanobisDistanceForce_

double robot_utils::AverageForceCalibrator::Config::outlierDetectionMaxMahalanobisDistanceForce_ = 1.0e18

◆ outlierDetectionMaxMahalanobisDistanceTorque_

double robot_utils::AverageForceCalibrator::Config::outlierDetectionMaxMahalanobisDistanceTorque_ = 1.0e18

◆ outlierDetectionVariance_

kindr::WrenchD robot_utils::AverageForceCalibrator::Config::outlierDetectionVariance_ = kindr::WrenchD( kindr::Force3D(1.0, 1.0, 1.0), kindr::Torque3D(1.0, 1.0, 1.0))

◆ upperForceThreshold_

double robot_utils::AverageForceCalibrator::Config::upperForceThreshold_ = 100.0

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