terrain_estimator
Public Member Functions | List of all members
terrain_estimator::TractionForceGroupedIntoStep Class Reference

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 ( double  angle_between_legs)

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

Member Function Documentation

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
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
Step TractionForceGroupedIntoStep::getCompletedStep ( )
Returns
the current completed step
double TractionForceGroupedIntoStep::getCompletedStepId ( )
Returns
the indentifier of the current completed step
double TractionForceGroupedIntoStep::getMaximalTractionEitherStep ( )
Returns
the maximal value either step (completed or current)
double TractionForceGroupedIntoStep::getMinimalTractionEitherStep ( )
Returns
the maximal value either step (completed or current)
The documentation for this class was generated from the following files:
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