#include <dynamic_graph_bridge/sot_loader.hh>
List of all members.
Public Member Functions |
| SotLoader () |
| ~SotLoader () |
void | initializeRosNode (int argc, char *argv[]) |
void | oneIteration () |
void | fillSensors (std::map< std::string, dgs::SensorValues > &sensorsIn) |
void | readControl (std::map< std::string, dgs::ControlValues > &controlValues) |
void | setup () |
Protected Member Functions |
virtual void | startControlLoop () |
Protected Attributes |
std::map< std::string,
dgs::SensorValues > | sensorsIn_ |
| Map of sensor readings.
|
std::map< std::string,
dgs::ControlValues > | controlValues_ |
| Map of control values.
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std::vector< double > | angleEncoder_ |
| Angular values read by encoders.
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std::vector< double > | angleControl_ |
| Angular values sent to motors.
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std::vector< double > | forces_ |
| Forces read by force sensors.
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std::vector< double > | torques_ |
| Torques.
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std::vector< double > | baseAtt_ |
| Attitude of the robot computed by extended Kalman filter.
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std::vector< double > | accelerometer_ |
| Accelerations read by Accelerometers.
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std::vector< double > | gyrometer_ |
| Angular velocity read by gyrometers.
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std::string | robot_desc_string_ |
| URDF string description of the robot.
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Constructor & Destructor Documentation
SotLoader::~SotLoader |
( |
| ) |
[inline] |
Member Function Documentation
void SotLoader::fillSensors |
( |
std::map< std::string, dgs::SensorValues > & |
sensorsIn | ) |
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void SotLoader::initializeRosNode |
( |
int |
argc, |
|
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char * |
argv[] |
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) |
| [virtual] |
void SotLoader::oneIteration |
( |
| ) |
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void SotLoader::readControl |
( |
std::map< std::string, dgs::ControlValues > & |
controlValues | ) |
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void SotLoader::setup |
( |
| ) |
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virtual void SotLoader::startControlLoop |
( |
| ) |
[protected, virtual] |
Member Data Documentation
Accelerations read by Accelerometers.
Angular values sent to motors.
Angular values read by encoders.
Attitude of the robot computed by extended Kalman filter.
Forces read by force sensors.
Angular velocity read by gyrometers.
URDF string description of the robot.