#include <dynamic_graph_bridge/sot_loader.hh>
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. | |
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. | |
tf::TransformBroadcaster | freeFlyerPublisher_ |
tf::Transform | freeFlyerPose_ |
SotLoader::SotLoader | ( | ) |
SotLoader::~SotLoader | ( | ) | [inline] |
void SotLoader::fillSensors | ( | std::map< std::string, dgs::SensorValues > & | sensorsIn | ) |
void SotLoader::initializeRosNode | ( | int | argc, |
char * | argv[] | ||
) | [virtual] |
Reimplemented from SotLoaderBasic.
void SotLoader::oneIteration | ( | ) |
void SotLoader::readControl | ( | std::map< std::string, dgs::ControlValues > & | controlValues | ) |
void SotLoader::setup | ( | ) |
virtual void SotLoader::startControlLoop | ( | ) | [protected, virtual] |
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::map<std::string,dgs::ControlValues> SotLoader::controlValues_ [protected] |
Map of control values.
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.
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.
std::vector<double> SotLoader::torques_ [protected] |
Torques.