Classes
struct	compare_id

Public Member Functions
void	calculateGlobalCOP (vector< geometry_msgs::PoseStamped > &sensor_pos, vector< geometry_msgs::Vector3Stamped > &sensor_value)

void	convexHull (vector< geometry_msgs::PoseStamped > dummy_pos)

double	cross (const geometry_msgs::PoseStamped &O, const geometry_msgs::PoseStamped &A, const geometry_msgs::PoseStamped &B)

void	dummiesPosition (const vrep_common::ObjectGroupData &msg)

void	feetPosition (geometry_msgs::Pose &left_foot_pose, geometry_msgs::Pose &right_foot_pose)

	Humanoid (ros::NodeHandle nh)

void	imusUpdate (const sensor_msgs::Imu &msg)

void	jointsUpdate (const sensor_msgs::JointState &msg)

void	leftFootPosition (const geometry_msgs::PoseStamped &msg)

void	normalize (geometry_msgs::Quaternion &quaternion)

void	phuaPosition (const geometry_msgs::PoseStamped &msg)

void	rightFootPosition (const geometry_msgs::PoseStamped &msg)

void	sensorsPosition (const vrep_common::ObjectGroupData &msg)

void	sensorsUpdate (const vrep_common::ObjectGroupData &msg)

void	simulationState (const vrep_common::VrepInfo &msg)

Static Public Member Functions
static bool	compare_pos (const geometry_msgs::PoseStamped p1, const geometry_msgs::PoseStamped p2)

Private Attributes
geometry_msgs::PointStamped	cop_global

ros::Publisher	cop_global_position_pub

ros::Subscriber	dummies_pose_sub

vector < geometry_msgs::PoseStamped >	dummy_pos

geometry_msgs::Pose	feet_pose

ros::Subscriber	imu1_data_sub

ros::Subscriber	imu2_data_sub

ros::Subscriber	imu3_data_sub

ros::Subscriber	imu4_data_sub

ros::Subscriber	imu5_data_sub

ros::Subscriber	imu6_data_sub

ros::Subscriber	imu7_data_sub

ros::Subscriber	imu8_data_sub

ros::Subscriber	imu9_data_sub

sensor_msgs::Imu	imu_data_prev

vrep_common::ImuData	imu_network

ros::Publisher	imu_network_data_pub

ros::Publisher	joints_state_pub

ros::Subscriber	joints_state_sub

geometry_msgs::Pose	left_foot_pose

ros::Subscriber	left_foot_pose_sub

ros::NodeHandle	nh_

geometry_msgs::PoseStamped	phua_pos

ros::Subscriber	phua_pose_sub

ros::Publisher	phua_position_pub

ros::Publisher	reaction_force_pub

double	realTime

string	referential

geometry_msgs::Pose	right_foot_pose

ros::Subscriber	right_foot_pose_sub

vector < geometry_msgs::PoseStamped >	sensor_pos

vector < geometry_msgs::Vector3Stamped >	sensor_value

ros::Subscriber	sensors_data_sub

ros::Subscriber	sensors_pose_sub

ros::Subscriber	simulation_state_sub

double	simulationTime

ros::Publisher	support_base_position_pub

tf::TransformBroadcaster	WF_broadcaster

tf::TransformListener	WF_listener

tf::Transform	WF_T

tf::TransformBroadcaster	WLf_broadcaster

tf::TransformListener	WLf_listener

tf::Transform	WLf_T

tf::TransformBroadcaster	WP_broadcaster

tf::TransformListener	WP_listener

tf::Transform	WP_T

tf::TransformBroadcaster	WRf_broadcaster

tf::TransformListener	WRf_listener

tf::Transform	WRf_T

Detailed Description

Definition at line 25 of file robot_state.cpp.

Constructor & Destructor Documentation

Humanoid::Humanoid ( ros::NodeHandle nh )

inline

Definition at line 80 of file robot_state.cpp.

Member Function Documentation

void Humanoid::calculateGlobalCOP	(	vector< geometry_msgs::PoseStamped > &	sensor_pos,
		vector< geometry_msgs::Vector3Stamped > &	sensor_value
	)

inline

Definition at line 316 of file robot_state.cpp.

static bool Humanoid::compare_pos	(	const geometry_msgs::PoseStamped	p1,
		const geometry_msgs::PoseStamped	p2
	)

inlinestatic

Definition at line 403 of file robot_state.cpp.

void Humanoid::convexHull ( vector< geometry_msgs::PoseStamped > dummy_pos )

inline

Definition at line 419 of file robot_state.cpp.

double Humanoid::cross	(	const geometry_msgs::PoseStamped &	O,
		const geometry_msgs::PoseStamped &	A,
		const geometry_msgs::PoseStamped &	B
	)

inline

Definition at line 411 of file robot_state.cpp.

void Humanoid::dummiesPosition ( const vrep_common::ObjectGroupData & msg )

inline

Definition at line 355 of file robot_state.cpp.

void Humanoid::feetPosition	(	geometry_msgs::Pose &	left_foot_pose,
		geometry_msgs::Pose &	right_foot_pose
	)

inline

Definition at line 197 of file robot_state.cpp.

void Humanoid::imusUpdate ( const sensor_msgs::Imu & msg )

inline

Definition at line 517 of file robot_state.cpp.

void Humanoid::jointsUpdate ( const sensor_msgs::JointState & msg )

inline

Definition at line 490 of file robot_state.cpp.

void Humanoid::leftFootPosition ( const geometry_msgs::PoseStamped & msg )

inline

Definition at line 157 of file robot_state.cpp.

void Humanoid::normalize ( geometry_msgs::Quaternion & quaternion )

inline

Definition at line 257 of file robot_state.cpp.

void Humanoid::phuaPosition ( const geometry_msgs::PoseStamped & msg )

inline

Definition at line 121 of file robot_state.cpp.

void Humanoid::rightFootPosition ( const geometry_msgs::PoseStamped & msg )

inline

Definition at line 177 of file robot_state.cpp.

void Humanoid::sensorsPosition ( const vrep_common::ObjectGroupData & msg )

inline

Definition at line 267 of file robot_state.cpp.

void Humanoid::sensorsUpdate ( const vrep_common::ObjectGroupData & msg )

inline

Definition at line 214 of file robot_state.cpp.

void Humanoid::simulationState ( const vrep_common::VrepInfo & msg )

inline

Definition at line 111 of file robot_state.cpp.

Member Data Documentation

geometry_msgs::PointStamped Humanoid::cop_global

private

Definition at line 72 of file robot_state.cpp.

ros::Publisher Humanoid::cop_global_position_pub

private

Definition at line 48 of file robot_state.cpp.

ros::Subscriber Humanoid::dummies_pose_sub

private

Definition at line 36 of file robot_state.cpp.

vector<geometry_msgs::PoseStamped> Humanoid::dummy_pos

private

Definition at line 57 of file robot_state.cpp.

geometry_msgs::Pose Humanoid::feet_pose

private

Definition at line 61 of file robot_state.cpp.

ros::Subscriber Humanoid::imu1_data_sub

private

Definition at line 38 of file robot_state.cpp.

ros::Subscriber Humanoid::imu2_data_sub

private

Definition at line 39 of file robot_state.cpp.

ros::Subscriber Humanoid::imu3_data_sub

private

Definition at line 40 of file robot_state.cpp.

ros::Subscriber Humanoid::imu4_data_sub

private

Definition at line 41 of file robot_state.cpp.

ros::Subscriber Humanoid::imu5_data_sub

private

Definition at line 42 of file robot_state.cpp.

ros::Subscriber Humanoid::imu6_data_sub

private

Definition at line 43 of file robot_state.cpp.

ros::Subscriber Humanoid::imu7_data_sub

private

Definition at line 44 of file robot_state.cpp.

ros::Subscriber Humanoid::imu8_data_sub

private

Definition at line 45 of file robot_state.cpp.

ros::Subscriber Humanoid::imu9_data_sub

private

Definition at line 46 of file robot_state.cpp.

sensor_msgs::Imu Humanoid::imu_data_prev

private

Definition at line 76 of file robot_state.cpp.

vrep_common::ImuData Humanoid::imu_network

private

Definition at line 75 of file robot_state.cpp.

ros::Publisher Humanoid::imu_network_data_pub

private

Definition at line 53 of file robot_state.cpp.

ros::Publisher Humanoid::joints_state_pub

private

Definition at line 52 of file robot_state.cpp.

ros::Subscriber Humanoid::joints_state_sub

private

Definition at line 37 of file robot_state.cpp.

geometry_msgs::Pose Humanoid::left_foot_pose

private

Definition at line 59 of file robot_state.cpp.

ros::Subscriber Humanoid::left_foot_pose_sub

private

Definition at line 32 of file robot_state.cpp.

ros::NodeHandle Humanoid::nh_

private

Definition at line 28 of file robot_state.cpp.

geometry_msgs::PoseStamped Humanoid::phua_pos

private

Definition at line 73 of file robot_state.cpp.

ros::Subscriber Humanoid::phua_pose_sub

private

Definition at line 31 of file robot_state.cpp.

ros::Publisher Humanoid::phua_position_pub

private

Definition at line 50 of file robot_state.cpp.

ros::Publisher Humanoid::reaction_force_pub

private

Definition at line 51 of file robot_state.cpp.

double Humanoid::realTime

private

Definition at line 70 of file robot_state.cpp.

string Humanoid::referential

private

Definition at line 67 of file robot_state.cpp.

geometry_msgs::Pose Humanoid::right_foot_pose

private

Definition at line 60 of file robot_state.cpp.

ros::Subscriber Humanoid::right_foot_pose_sub

private

Definition at line 33 of file robot_state.cpp.

vector<geometry_msgs::PoseStamped> Humanoid::sensor_pos

private

Definition at line 55 of file robot_state.cpp.

vector<geometry_msgs::Vector3Stamped> Humanoid::sensor_value

private

Definition at line 56 of file robot_state.cpp.

ros::Subscriber Humanoid::sensors_data_sub

private

Definition at line 35 of file robot_state.cpp.

ros::Subscriber Humanoid::sensors_pose_sub

private

Definition at line 34 of file robot_state.cpp.

ros::Subscriber Humanoid::simulation_state_sub

private

Definition at line 30 of file robot_state.cpp.

double Humanoid::simulationTime

private

Definition at line 69 of file robot_state.cpp.

ros::Publisher Humanoid::support_base_position_pub

private

Definition at line 49 of file robot_state.cpp.

tf::TransformBroadcaster Humanoid::WF_broadcaster

private

Definition at line 63 of file robot_state.cpp.

tf::TransformListener Humanoid::WF_listener

private

Definition at line 64 of file robot_state.cpp.

tf::Transform Humanoid::WF_T

private

Definition at line 65 of file robot_state.cpp.

tf::TransformBroadcaster Humanoid::WLf_broadcaster

private

Definition at line 63 of file robot_state.cpp.

tf::TransformListener Humanoid::WLf_listener

private

Definition at line 64 of file robot_state.cpp.

tf::Transform Humanoid::WLf_T

private

Definition at line 65 of file robot_state.cpp.

tf::TransformBroadcaster Humanoid::WP_broadcaster

private

Definition at line 63 of file robot_state.cpp.

tf::TransformListener Humanoid::WP_listener

private

Definition at line 64 of file robot_state.cpp.

tf::Transform Humanoid::WP_T

private

Definition at line 65 of file robot_state.cpp.

tf::TransformBroadcaster Humanoid::WRf_broadcaster

private

Definition at line 63 of file robot_state.cpp.

tf::TransformListener Humanoid::WRf_listener

private

Definition at line 64 of file robot_state.cpp.

tf::Transform Humanoid::WRf_T

private

Definition at line 65 of file robot_state.cpp.

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

robot_state.cpp

Classes

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation