Node in charge of receiving data from the V-REP simulation, monitoring robot and simulation states. This module basically defines a C++ class responsible for mmonitoring and register the main variables involved in the robot simulation. Receives the sensor positions and the force values measured by them, and calculates the CoP. Also defines the robot's ground base support, when one or both feet are in contact with the ground. These calculations are performed relatively to the robot coordinate frame, making them independent of the model's position in the V-REP scene. Inertial measurement units data is also received. More...
#include <humanoid_simulation/humanoid_simulation.h>
Go to the source code of this file.
Classes | |
struct | Humanoid::compare_id |
class | Humanoid |
Functions | |
int | main (int argc, char **argv) |
int | simulator_state (4) |
Variables | |
double | realTime_start |
Node in charge of receiving data from the V-REP simulation, monitoring robot and simulation states. This module basically defines a C++ class responsible for mmonitoring and register the main variables involved in the robot simulation. Receives the sensor positions and the force values measured by them, and calculates the CoP. Also defines the robot's ground base support, when one or both feet are in contact with the ground. These calculations are performed relatively to the robot coordinate frame, making them independent of the model's position in the V-REP scene. Inertial measurement units data is also received.
Definition in file robot_state.cpp.
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 545 of file robot_state.cpp.
int simulator_state | ( | 4 | ) |
double realTime_start |
Definition at line 21 of file robot_state.cpp.