vulp  2.2.2
vulp::observation Namespace Reference

State observation. More...

Namespaces

 sources
 

Classes

class  Observer
 Base class for observers. More...
 
class  ObserverPipeline
 Observer pipeline. More...
 
class  Source
 Base class for sources. More...
 

Functions

void observe_imu (Dictionary &observation, const actuation::ImuData &imu_data)
 
void observe_imu (palimpsest::Dictionary &observation, const actuation::ImuData &imu_data)
 Observe the orientation of the IMU and its derivatives. More...
 
void observe_servos (Dictionary &observation, const std::map< int, std::string > &servo_joint_map, const std::vector< moteus::ServoReply > &servo_replies)
 
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...
 
void observe_time (Dictionary &observation)
 Observe time since the epoch. More...
 

Detailed Description

State observation.

Function Documentation

◆ observe_imu() [1/2]

void vulp::observation::observe_imu ( Dictionary &  observation,
const actuation::ImuData imu_data 
)

Definition at line 10 of file observe_imu.cpp.

◆ observe_imu() [2/2]

void vulp::observation::observe_imu ( palimpsest::Dictionary &  observation,
const actuation::ImuData imu_data 
)

Observe the orientation of the IMU and its derivatives.

Parameters
[out]observationObservation dictionary.
[in]imu_dataIMU data filtered by the pi3hat.

◆ observe_servos() [1/2]

void vulp::observation::observe_servos ( Dictionary &  observation,
const std::map< int, std::string > &  servo_joint_map,
const std::vector< moteus::ServoReply > &  servo_replies 
)

Definition at line 16 of file observe_servos.cpp.

◆ observe_servos() [2/2]

void vulp::observation::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.

Parameters
[out]observationDictionary to write observations to.
[in]servo_joint_mapMap from servo ID to joint name.
[in]servo_repliesList of servo replies from the CAN bus.

◆ observe_time()

void vulp::observation::observe_time ( Dictionary &  observation)
inline

Observe time since the epoch.

Parameters
[out]observationDictionary to write observations to.

Definition at line 16 of file observe_time.h.