dynamicgraph::sot::Device Class Reference

#include <sot/core/device.hh>

Inheritance diagram for dynamicgraph::sot::Device:

List of all members.

Public Types

enum  ForceSignalSource {
  FORCE_SIGNAL_RLEG,
  FORCE_SIGNAL_LLEG,
  FORCE_SIGNAL_RARM,
  FORCE_SIGNAL_LARM
}

Public Member Functions

virtual const std::string & getClassName (void) const
 Device (const std::string &name)
virtual ~Device ()
void setStateSize (const unsigned int &size)
void setState (const ml::Vector &st)
void setVelocitySize (const unsigned int &size)
void setVelocity (const ml::Vector &vel)
void setSecondOrderIntegration ()
void increment (const double &dt=5e-2)
virtual void display (std::ostream &os) const
void commandLine (const std::string &, std::istringstream &, std::ostream &)
void setRoot (const ml::Matrix &root)
void setRoot (const MatrixHomogeneous &worldMwaist)

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.
dynamicgraph::Signal
< ml::Vector, int > 
ZMPPreviousControllerSOUT
 The ZMP reference send by the previous controller.

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.
virtual void integrate (const double &dt)
 Compute the new position, from the current control.
const MatrixHomogeneousfreeFlyerPose () const
 Get freeflyer pose.

Protected Attributes

ml::Vector state_
ml::Vector velocity_
bool vel_controlInit_
ml::Vector vel_control_
bool secondOrderIntegration_
bool withForceSignals [4]
PeriodicCall periodicCallBefore_
PeriodicCall periodicCallAfter_
MatrixHomogeneous ffPose_
 Store Position of free flyer joint.

Friends

SOT_CORE_EXPORT friend
std::ostream & 
operator<< (std::ostream &os, const Device &r)

Member Enumeration Documentation

Enumerator:
FORCE_SIGNAL_RLEG 
FORCE_SIGNAL_LLEG 
FORCE_SIGNAL_RARM 
FORCE_SIGNAL_LARM 

Constructor & Destructor Documentation

dynamicgraph::sot::Device::Device ( const std::string &  name)
virtual dynamicgraph::sot::Device::~Device ( ) [virtual]

Member Function Documentation

void dynamicgraph::sot::Device::commandLine ( const std::string &  ,
std::istringstream &  ,
std::ostream &   
) [inline, virtual]

Reimplemented from dynamicgraph::Entity.

virtual void dynamicgraph::sot::Device::display ( std::ostream &  os) const [virtual]

Reimplemented from dynamicgraph::Entity.

const MatrixHomogeneous& dynamicgraph::sot::Device::freeFlyerPose ( ) const [protected]

Get freeflyer pose.

virtual const std::string& dynamicgraph::sot::Device::getClassName ( void  ) const [inline, virtual]

Implements dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::RobotSimu.

void dynamicgraph::sot::Device::increment ( const double &  dt = 5e-2)
virtual void dynamicgraph::sot::Device::integrate ( const double &  dt) [protected, virtual]

Compute the new position, from the current control.

void dynamicgraph::sot::Device::integrateRollPitchYaw ( ml::Vector state,
const ml::Vector control,
double  dt 
) [protected]

Compute roll pitch yaw angles of freeflyer joint.

void dynamicgraph::sot::Device::setRoot ( const ml::Matrix root)
void dynamicgraph::sot::Device::setRoot ( const MatrixHomogeneous worldMwaist)
void dynamicgraph::sot::Device::setSecondOrderIntegration ( )
void dynamicgraph::sot::Device::setState ( const ml::Vector st)
void dynamicgraph::sot::Device::setStateSize ( const unsigned int &  size)
void dynamicgraph::sot::Device::setVelocity ( const ml::Vector vel)
void dynamicgraph::sot::Device::setVelocitySize ( const unsigned int &  size)

Friends And Related Function Documentation

SOT_CORE_EXPORT friend std::ostream& operator<< ( std::ostream &  os,
const Device r 
) [friend]

Member Data Documentation

const std::string dynamicgraph::sot::Device::CLASS_NAME [static]

Reimplemented in dynamicgraph::sot::RobotSimu.

Store Position of free flyer joint.

The current state of the robot from the command viewpoint.

The ZMP reference send by the previous controller.