SotLoaderBasic Class Reference

#include <dynamic_graph_bridge/sot_loader_basic.hh>

Inheritance diagram for SotLoaderBasic:
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Collaboration diagram for SotLoaderBasic:
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List of all members.

Public Member Functions

 SotLoaderBasic ()
 ~SotLoaderBasic ()
int parseOptions (int argc, char *argv[])
void Initialization ()
virtual void initializeRosNode (int argc, char *argv[])
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 Attributes

bool dynamic_graph_stopped_
dgs::AbstractSotExternalInterface * sotController_
 the sot-hrp2 controller
po::variables_map vm_
std::string dynamicLibraryName_
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_

Member Typedef Documentation

typedef std::vector<int> SotLoaderBasic::parallel_joints_to_state_vector_t [protected]

List of parallel joints from the state vector.


Constructor & Destructor Documentation

SotLoaderBasic::SotLoaderBasic ( )
SotLoaderBasic::~SotLoaderBasic ( ) [inline]

Member Function Documentation

void SotLoaderBasic::Initialization ( )
virtual void SotLoaderBasic::initializeRosNode ( int  argc,
char *  argv[] 
) [virtual]

Reimplemented in SotLoader.

int SotLoaderBasic::initPublication ( )
bool SotLoaderBasic::isDynamicGraphStopped ( ) [inline]
int SotLoaderBasic::parseOptions ( int  argc,
char *  argv[] 
)
int SotLoaderBasic::readSotVectorStateParam ( )
void SotLoaderBasic::setDynamicLibraryName ( std::string &  afilename)
bool SotLoaderBasic::start_dg ( std_srvs::Empty::Request &  request,
std_srvs::Empty::Response &  response 
)
bool SotLoaderBasic::stop_dg ( std_srvs::Empty::Request &  request,
std_srvs::Empty::Response &  response 
)

Member Data Documentation

std::vector<double> SotLoaderBasic::coefficient_parallel_joints_ [protected]

Coefficient between parallel joints and the state vector.

std::string SotLoaderBasic::dynamicLibraryName_ [protected]
ros::Publisher SotLoaderBasic::joint_pub_ [protected]
sensor_msgs::JointState SotLoaderBasic::joint_state_ [protected]
int SotLoaderBasic::nbOfJoints_ [protected]
parallel_joints_to_state_vector_t::size_type SotLoaderBasic::nbOfParallelJoints_ [protected]
dgs::AbstractSotExternalInterface* SotLoaderBasic::sotController_ [protected]

the sot-hrp2 controller

XmlRpc::XmlRpcValue SotLoaderBasic::stateVectorMap_ [protected]

Map between SoT state vector and some joint_state_links.

po::variables_map SotLoaderBasic::vm_ [protected]