#include <sot/core/device.hh>
Public Types | |
enum | ForceSignalSource { FORCE_SIGNAL_RLEG, FORCE_SIGNAL_LLEG, FORCE_SIGNAL_RARM, FORCE_SIGNAL_LARM } |
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typedef std::map< std::string, SignalBase< int > * > | SignalMap |
typedef std::map< const std::string, command::Command * > | CommandMap_t |
Public Member Functions | |
virtual const std::string & | getClassName (void) const |
Device (const std::string &name) | |
virtual | ~Device () |
virtual void | setStateSize (const unsigned int &size) |
virtual void | setState (const ml::Vector &st) |
void | setVelocitySize (const unsigned int &size) |
virtual void | setVelocity (const ml::Vector &vel) |
virtual void | setSecondOrderIntegration () |
virtual void | setControlInputType (const std::string &cit) |
virtual void | increment (const double &dt=5e-2) |
virtual void | display (std::ostream &os) const |
void | commandLine (const std::string &, std::istringstream &, std::ostream &) |
virtual void | setRoot (const ml::Matrix &root) |
virtual void | setRoot (const MatrixHomogeneous &worldMwaist) |
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Entity (const std::string &name) | |
virtual | ~Entity () |
const std::string & | getName () const |
virtual std::string | getDocString () const |
bool | hasSignal (const std::string &signame) const |
SignalBase< int > & | getSignal (const std::string &signalName) |
const SignalBase< int > & | getSignal (const std::string &signalName) const |
std::ostream & | displaySignalList (std::ostream &os) const |
virtual std::ostream & | writeGraph (std::ostream &os) const |
virtual std::ostream & | writeCompletionList (std::ostream &os) const |
virtual SignalBase< int > * | test () |
virtual void | test2 (SignalBase< int > *) |
const std::string & | getCommandList () const |
CommandMap_t | getNewStyleCommandMap () |
command::Command * | getNewStyleCommand (const std::string &cmdName) |
SignalMap | getSignalMap () const |
Public Attributes | |
dynamicgraph::SignalPtr < ml::Vector, int > | controlSIN |
dynamicgraph::SignalPtr < ml::Vector, int > | attitudeSIN |
dynamicgraph::SignalPtr < ml::Vector, int > | zmpSIN |
dynamicgraph::Signal < ml::Vector, int > | stateSOUT |
dynamicgraph::Signal < ml::Vector, int > | velocitySOUT |
dynamicgraph::Signal < MatrixRotation, int > | attitudeSOUT |
dynamicgraph::Signal < ml::Vector, int > * | forcesSOUT [4] |
dynamicgraph::Signal < ml::Vector, int > | pseudoTorqueSOUT |
dynamicgraph::Signal < ml::Vector, int > | previousControlSOUT |
dynamicgraph::Signal < ml::Vector, int > | motorcontrolSOUT |
The current state of the robot from the command viewpoint. More... | |
dynamicgraph::Signal < ml::Vector, int > | ZMPPreviousControllerSOUT |
The ZMP reference send by the previous controller. More... | |
Static Public Attributes | |
static const std::string | CLASS_NAME |
Protected Member Functions | |
void | integrateRollPitchYaw (ml::Vector &state, const ml::Vector &control, double dt) |
Compute roll pitch yaw angles of freeflyer joint. More... | |
virtual void | integrate (const double &dt) |
Compute the new position, from the current control. More... | |
const MatrixHomogeneous & | freeFlyerPose () const |
Get freeflyer pose. More... | |
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void | addCommand (const std::string &name, command::Command *command) |
void | entityRegistration () |
void | entityDeregistration () |
void | signalRegistration (const SignalArray< int > &signals) |
void | signalDeregistration (const std::string &name) |
Protected Attributes | |
ml::Vector | state_ |
ml::Vector | velocity_ |
bool | vel_controlInit_ |
ml::Vector | vel_control_ |
ControlInput | controlInputType_ |
bool | withForceSignals [4] |
PeriodicCall | periodicCallBefore_ |
PeriodicCall | periodicCallAfter_ |
MatrixHomogeneous | ffPose_ |
Store Position of free flyer joint. More... | |
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std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
Friends | |
SOT_CORE_EXPORT friend std::ostream & | operator<< (std::ostream &os, const Device &r) |
dynamicgraph::sot::Device::Device | ( | const std::string & | name | ) |
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Reimplemented from dynamicgraph::Entity.
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Reimplemented from dynamicgraph::Entity.
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Get freeflyer pose.
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Implements dynamicgraph::Entity.
Reimplemented in dynamicgraph::sot::RobotSimu.
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Compute the new position, from the current control.
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Compute roll pitch yaw angles of freeflyer joint.
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void dynamicgraph::sot::Device::setVelocitySize | ( | const unsigned int & | size | ) |
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dynamicgraph::SignalPtr<ml::Vector,int> dynamicgraph::sot::Device::attitudeSIN |
dynamicgraph::Signal<MatrixRotation,int> dynamicgraph::sot::Device::attitudeSOUT |
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dynamicgraph::SignalPtr<ml::Vector,int> dynamicgraph::sot::Device::controlSIN |
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Store Position of free flyer joint.
dynamicgraph::Signal<ml::Vector,int>* dynamicgraph::sot::Device::forcesSOUT[4] |
dynamicgraph::Signal<ml::Vector,int> dynamicgraph::sot::Device::motorcontrolSOUT |
The current state of the robot from the command viewpoint.
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dynamicgraph::Signal<ml::Vector,int> dynamicgraph::sot::Device::previousControlSOUT |
dynamicgraph::Signal<ml::Vector,int> dynamicgraph::sot::Device::pseudoTorqueSOUT |
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dynamicgraph::Signal<ml::Vector,int> dynamicgraph::sot::Device::stateSOUT |
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dynamicgraph::Signal<ml::Vector,int> dynamicgraph::sot::Device::velocitySOUT |
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dynamicgraph::Signal<ml::Vector,int> dynamicgraph::sot::Device::ZMPPreviousControllerSOUT |
The ZMP reference send by the previous controller.
dynamicgraph::SignalPtr<ml::Vector,int> dynamicgraph::sot::Device::zmpSIN |