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

#include <ContactDetectorThresholding.hpp>

Inheritance diagram for robot_utils::ContactDetectorThresholding:
Inheritance graph

Classes

class  Config
 

Public Types

enum  ThresholdingMethod : unsigned int {
  ThresholdingMethod::NORM = 0, ThresholdingMethod::ZONLY, ThresholdingMethod::ZCLAMPED, ThresholdingMethod::ALL,
  ThresholdingMethod::ALLCLAMPED, ThresholdingMethod::XONLY, ThresholdingMethod::XYONLY
}
 
- Public Types inherited from robot_utils::ContactDetectorBase
enum  ContactState : unsigned int { ContactState::OPEN = 0, ContactState::CLOSED, ContactState::SLIPPING }
 

Public Member Functions

 ContactDetectorThresholding (const std::string &name, const Config &config=Config())
 
virtual ~ContactDetectorThresholding ()
 
virtual bool initialize (double dt)
 
virtual bool advance (double dt)
 
void setConfig (const Config &config)
 
- Public Member Functions inherited from robot_utils::ContactDetectorBase
 ContactDetectorBase (const std::string &name)
 
virtual ~ContactDetectorBase ()
 
const std::string & getName () const
 
void setWrench (const kindr::WrenchD &wrench)
 
void setForce (const kindr::Force3D &force)
 
void setTorque (const kindr::Torque3D &torque)
 
virtual ContactState getContactState () const
 

Protected Member Functions

bool detectContact ()
 
ContactDetectorBase::ContactState getStateFromForce ()
 

Protected Attributes

Config config_
 
boost::shared_mutex mutexConfig_
 
- Protected Attributes inherited from robot_utils::ContactDetectorBase
std::string name_
 
boost::atomic< ContactStatestate_
 
kindr::WrenchD wrench_
 
boost::shared_mutex mutexWrench_
 

Member Enumeration Documentation

◆ ThresholdingMethod

Enumerator
NORM 
ZONLY 
ZCLAMPED 
ALL 
ALLCLAMPED 
XONLY 
XYONLY 

Constructor & Destructor Documentation

◆ ContactDetectorThresholding()

robot_utils::ContactDetectorThresholding::ContactDetectorThresholding ( const std::string &  name,
const Config config = Config() 
)

◆ ~ContactDetectorThresholding()

virtual robot_utils::ContactDetectorThresholding::~ContactDetectorThresholding ( )
virtual

Member Function Documentation

◆ advance()

virtual bool robot_utils::ContactDetectorThresholding::advance ( double  dt)
virtual

Reimplemented from robot_utils::ContactDetectorBase.

◆ detectContact()

bool robot_utils::ContactDetectorThresholding::detectContact ( )
protected

◆ getStateFromForce()

ContactDetectorBase::ContactState robot_utils::ContactDetectorThresholding::getStateFromForce ( )
protected

◆ initialize()

virtual bool robot_utils::ContactDetectorThresholding::initialize ( double  dt)
virtual

Reimplemented from robot_utils::ContactDetectorBase.

◆ setConfig()

void robot_utils::ContactDetectorThresholding::setConfig ( const Config config)
inline

Member Data Documentation

◆ config_

Config robot_utils::ContactDetectorThresholding::config_
protected

◆ mutexConfig_

boost::shared_mutex robot_utils::ContactDetectorThresholding::mutexConfig_
protected

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