Groups traction force measurement into a vector corresponding to a step A step is caracterize by the transition, double contact to single contact to double contact This class stores only the information of the previous completed step and a undergoing uncompleted Step. More...

#include <ModelBaseAnalysis.hpp>

Public Member Functions
	TractionForceGroupedIntoStep (double angle_between_legs)

void	addTraction (double traction, double encoder)

void	addRobotVelocities (double angular_velocity, double linear_velocity)

double	getCompletedStepId ()

Step	getCompletedStep ()

double	getMaximalTractionEitherStep ()

double	getMinimalTractionEitherStep ()

Detailed Description

Groups traction force measurement into a vector corresponding to a step A step is caracterize by the transition, double contact to single contact to double contact This class stores only the information of the previous completed step and a undergoing uncompleted Step.

Author

Author: Patrick Merz Paranhos

Date

Date: 26/10/2011

Contact: patri.nosp@m.ck.m.nosp@m.erz_p.nosp@m.aran.nosp@m.hos@d.nosp@m.fki..nosp@m.de

Constructor & Destructor Documentation

◆ TractionForceGroupedIntoStep()

TractionForceGroupedIntoStep::TractionForceGroupedIntoStep ( double angle_between_legs )

********* TractionForceGroupedIntoStep **************** ********* TractionForceGroupedIntoStep **************** ********* TractionForceGroupedIntoStep ****************

Member Function Documentation

◆ addRobotVelocities()

void TractionForceGroupedIntoStep::addRobotVelocities	(	double	angular_velocity,
		double	linear_velocity
	)

adds the velocity data to the current step

Parameters

angular_velocity	- the robot angular velocity
linear_velocity	- the robot linear velocity

◆ addTraction()

void TractionForceGroupedIntoStep::addTraction	(	double	traction,
		double	encoder
	)

adds the data to be grouped into a step

Parameters

traction	- the measured traction force value
encoder	- the encoder position
angular_velocity	- the robot angular velocity
linear_velocity	- the robot linear velocity

◆ getCompletedStep()

Step TractionForceGroupedIntoStep::getCompletedStep ( )

Returns: the current completed step

◆ getCompletedStepId()

double TractionForceGroupedIntoStep::getCompletedStepId ( )

Returns: the indentifier of the current completed step

◆ getMaximalTractionEitherStep()

double TractionForceGroupedIntoStep::getMaximalTractionEitherStep ( )

Returns: the maximal value either step (completed or current)

◆ getMinimalTractionEitherStep()

double TractionForceGroupedIntoStep::getMinimalTractionEitherStep ( )

Returns: the maximal value either step (completed or current)

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

/build/rock-master-18.09-slam-terrain-estimator-0.20171014/src/ModelBaseAnalysis.hpp
/build/rock-master-18.09-slam-terrain-estimator-0.20171014/src/ModelBaseAnalysis.cpp

Public Member Functions