#include <dynamic_graph_bridge/sot_loader.hh>
Public Member Functions | |
SotLoader () | |
~SotLoader () | |
int | parseOptions (int argc, char *argv[]) |
void | Initialization () |
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 () |
bool | start_dg (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response) |
bool | stop_dg (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response) |
int | readSotVectorStateParam () |
int | initPublication () |
bool | isDynamicGraphStopped () |
void | setDynamicLibraryName (std::string &afilename) |
Protected Types | |
typedef std::vector< int > | parallel_joints_to_state_vector_t |
List of parallel joints from the state vector. | |
Protected Member Functions | |
virtual void | startControlLoop () |
Protected Attributes | |
bool | dynamic_graph_stopped_ |
dgs::AbstractSotExternalInterface * | sotController_ |
the sot-hrp2 controller | |
po::variables_map | vm_ |
std::string | dynamicLibraryName_ |
std::map< std::string, dgs::SensorValues > | sensorsIn_ |
Map of sensor readings. | |
std::map< std::string, dgs::ControlValues > | controlValues_ |
Map of control values. | |
std::vector< double > | angleEncoder_ |
Angular values read by encoders. | |
std::vector< double > | angleControl_ |
Angular values sent to motors. | |
std::vector< double > | forces_ |
Forces read by force sensors. | |
std::vector< double > | torques_ |
Torques. | |
std::vector< double > | baseAtt_ |
Attitude of the robot computed by extended Kalman filter. | |
std::vector< double > | accelerometer_ |
Accelerations read by Accelerometers. | |
std::vector< double > | gyrometer_ |
Angular velocity read by gyrometers. | |
std::string | robot_desc_string_ |
URDF string description of the robot. | |
XmlRpc::XmlRpcValue | stateVectorMap_ |
Map between SoT state vector and some joint_state_links. | |
parallel_joints_to_state_vector_t | parallel_joints_to_state_vector_ |
std::vector< double > | coefficient_parallel_joints_ |
Coefficient between parallel joints and the state vector. | |
ros::Publisher | joint_pub_ |
sensor_msgs::JointState | joint_state_ |
int | nbOfJoints_ |
parallel_joints_to_state_vector_t::size_type | nbOfParallelJoints_ |
tf::TransformBroadcaster | freeFlyerPublisher_ |
tf::Transform | freeFlyerPose_ |
typedef std::vector<int> SotLoader::parallel_joints_to_state_vector_t [protected] |
List of parallel joints from the state vector.
SotLoader::SotLoader | ( | ) |
SotLoader::~SotLoader | ( | ) | [inline] |
void SotLoader::fillSensors | ( | std::map< std::string, dgs::SensorValues > & | sensorsIn | ) |
void SotLoader::Initialization | ( | ) |
void SotLoader::initializeRosNode | ( | int | argc, |
char * | argv[] | ||
) |
int SotLoader::initPublication | ( | ) |
bool SotLoader::isDynamicGraphStopped | ( | ) | [inline] |
References dynamic_graph_stopped_.
void SotLoader::oneIteration | ( | ) |
int SotLoader::parseOptions | ( | int | argc, |
char * | argv[] | ||
) |
void SotLoader::readControl | ( | std::map< std::string, dgs::ControlValues > & | controlValues | ) |
int SotLoader::readSotVectorStateParam | ( | ) |
void SotLoader::setDynamicLibraryName | ( | std::string & | afilename | ) |
void SotLoader::setup | ( | ) |
bool SotLoader::start_dg | ( | std_srvs::Empty::Request & | request, |
std_srvs::Empty::Response & | response | ||
) |
virtual void SotLoader::startControlLoop | ( | ) | [protected, virtual] |
bool SotLoader::stop_dg | ( | std_srvs::Empty::Request & | request, |
std_srvs::Empty::Response & | response | ||
) |
std::vector<double> SotLoader::accelerometer_ [protected] |
Accelerations read by Accelerometers.
std::vector<double> SotLoader::angleControl_ [protected] |
Angular values sent to motors.
std::vector<double> SotLoader::angleEncoder_ [protected] |
Angular values read by encoders.
std::vector<double> SotLoader::baseAtt_ [protected] |
Attitude of the robot computed by extended Kalman filter.
std::vector<double> SotLoader::coefficient_parallel_joints_ [protected] |
Coefficient between parallel joints and the state vector.
std::map<std::string,dgs::ControlValues> SotLoader::controlValues_ [protected] |
Map of control values.
bool SotLoader::dynamic_graph_stopped_ [protected] |
Referenced by isDynamicGraphStopped().
std::string SotLoader::dynamicLibraryName_ [protected] |
std::vector<double> SotLoader::forces_ [protected] |
Forces read by force sensors.
tf::Transform SotLoader::freeFlyerPose_ [protected] |
tf::TransformBroadcaster SotLoader::freeFlyerPublisher_ [protected] |
std::vector<double> SotLoader::gyrometer_ [protected] |
Angular velocity read by gyrometers.
ros::Publisher SotLoader::joint_pub_ [protected] |
sensor_msgs::JointState SotLoader::joint_state_ [protected] |
int SotLoader::nbOfJoints_ [protected] |
parallel_joints_to_state_vector_t::size_type SotLoader::nbOfParallelJoints_ [protected] |
std::string SotLoader::robot_desc_string_ [protected] |
URDF string description of the robot.
std::map<std::string,dgs::SensorValues> SotLoader::sensorsIn_ [protected] |
Map of sensor readings.
dgs::AbstractSotExternalInterface* SotLoader::sotController_ [protected] |
the sot-hrp2 controller
XmlRpc::XmlRpcValue SotLoader::stateVectorMap_ [protected] |
Map between SoT state vector and some joint_state_links.
std::vector<double> SotLoader::torques_ [protected] |
Torques.
po::variables_map SotLoader::vm_ [protected] |