State observation.
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void | observe_imu (Dictionary &observation, const actuation::ImuData &imu_data) |
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void | observe_imu (palimpsest::Dictionary &observation, const actuation::ImuData &imu_data) |
| Observe the orientation of the IMU and its derivatives. More...
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void | observe_servos (Dictionary &observation, const std::map< int, std::string > &servo_joint_map, const std::vector< moteus::ServoReply > &servo_replies) |
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void | observe_servos (palimpsest::Dictionary &observation, const std::map< int, std::string > &servo_joint_map, const std::vector< actuation::moteus::ServoReply > &servo_replies) |
| Observe servo measurements. More...
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void | observe_time (Dictionary &observation) |
| Observe time since the epoch. More...
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◆ observe_imu() [1/2]
void vulp::observation::observe_imu |
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Dictionary & |
observation, |
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const actuation::ImuData & |
imu_data |
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) |
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◆ observe_imu() [2/2]
void vulp::observation::observe_imu |
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palimpsest::Dictionary & |
observation, |
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const actuation::ImuData & |
imu_data |
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) |
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Observe the orientation of the IMU and its derivatives.
- Parameters
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[out] | observation | Observation dictionary. |
[in] | imu_data | IMU data filtered by the pi3hat. |
◆ observe_servos() [1/2]
void vulp::observation::observe_servos |
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Dictionary & |
observation, |
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const std::map< int, std::string > & |
servo_joint_map, |
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const std::vector< moteus::ServoReply > & |
servo_replies |
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) |
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◆ observe_servos() [2/2]
void vulp::observation::observe_servos |
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palimpsest::Dictionary & |
observation, |
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const std::map< int, std::string > & |
servo_joint_map, |
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const std::vector< actuation::moteus::ServoReply > & |
servo_replies |
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) |
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Observe servo measurements.
- Parameters
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[out] | observation | Dictionary to write observations to. |
[in] | servo_joint_map | Map from servo ID to joint name. |
[in] | servo_replies | List of servo replies from the CAN bus. |
◆ observe_time()
void vulp::observation::observe_time |
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Dictionary & |
observation | ) |
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inline |
Observe time since the epoch.
- Parameters
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[out] | observation | Dictionary to write observations to. |
Definition at line 16 of file observe_time.h.