#include <sot/core/device.hh>
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 () |
virtual void | setStateSize (const unsigned int &size) |
virtual void | setState (const dg::Vector &st) |
void | setVelocitySize (const unsigned int &size) |
virtual void | setVelocity (const dg::Vector &vel) |
virtual void | setSecondOrderIntegration () |
virtual void | setNoIntegration () |
virtual void | setControlInputType (const std::string &cit) |
virtual void | increment (const double &dt=5e-2) |
virtual void | display (std::ostream &os) const |
void | commandLine (const std::string &, std::istringstream &, std::ostream &) |
virtual void | setRoot (const dg::Matrix &root) |
virtual void | setRoot (const MatrixHomogeneous &worldMwaist) |
Public Attributes | |
dynamicgraph::SignalPtr < dg::Vector, int > | controlSIN |
dynamicgraph::SignalPtr < dg::Vector, int > | attitudeSIN |
dynamicgraph::SignalPtr < dg::Vector, int > | zmpSIN |
dynamicgraph::Signal < dg::Vector, int > | stateSOUT |
dynamicgraph::Signal < dg::Vector, int > | robotState_ |
This corresponds to the real encoders values and take into account the stabilization step. | |
dynamicgraph::Signal < dg::Vector, int > | robotVelocity_ |
dynamicgraph::Signal < dg::Vector, int > | velocitySOUT |
dynamicgraph::Signal < MatrixRotation, int > | attitudeSOUT |
dynamicgraph::Signal < dg::Vector, int > * | forcesSOUT [4] |
dynamicgraph::Signal < dg::Vector, int > | pseudoTorqueSOUT |
dynamicgraph::Signal < dg::Vector, int > | previousControlSOUT |
dynamicgraph::Signal < dg::Vector, int > | motorcontrolSOUT |
The current state of the robot from the command viewpoint. | |
dynamicgraph::Signal < dg::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 (dg::Vector &state, const dg::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 MatrixHomogeneous & | freeFlyerPose () const |
Get freeflyer pose. | |
Protected Attributes | |
dg::Vector | state_ |
dg::Vector | velocity_ |
bool | vel_controlInit_ |
dg::Vector | vel_control_ |
ControlInput | controlInputType_ |
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) |
dynamicgraph::sot::Device::Device | ( | const std::string & | name | ) |
virtual dynamicgraph::sot::Device::~Device | ( | ) | [virtual] |
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.
virtual void dynamicgraph::sot::Device::increment | ( | const double & | dt = 5e-2 | ) | [virtual] |
virtual void dynamicgraph::sot::Device::integrate | ( | const double & | dt | ) | [protected, virtual] |
Compute the new position, from the current control.
void dynamicgraph::sot::Device::integrateRollPitchYaw | ( | dg::Vector & | state, |
const dg::Vector & | control, | ||
double | dt | ||
) | [protected] |
Compute roll pitch yaw angles of freeflyer joint.
virtual void dynamicgraph::sot::Device::setControlInputType | ( | const std::string & | cit | ) | [virtual] |
virtual void dynamicgraph::sot::Device::setNoIntegration | ( | ) | [virtual] |
virtual void dynamicgraph::sot::Device::setRoot | ( | const dg::Matrix & | root | ) | [virtual] |
virtual void dynamicgraph::sot::Device::setRoot | ( | const MatrixHomogeneous & | worldMwaist | ) | [virtual] |
virtual void dynamicgraph::sot::Device::setSecondOrderIntegration | ( | ) | [virtual] |
virtual void dynamicgraph::sot::Device::setState | ( | const dg::Vector & | st | ) | [virtual] |
virtual void dynamicgraph::sot::Device::setStateSize | ( | const unsigned int & | size | ) | [virtual] |
virtual void dynamicgraph::sot::Device::setVelocity | ( | const dg::Vector & | vel | ) | [virtual] |
void dynamicgraph::sot::Device::setVelocitySize | ( | const unsigned int & | size | ) |
SOT_CORE_EXPORT friend std::ostream& operator<< | ( | std::ostream & | os, |
const Device & | r | ||
) | [friend] |
const std::string dynamicgraph::sot::Device::CLASS_NAME [static] |
Reimplemented in dynamicgraph::sot::RobotSimu.
MatrixHomogeneous dynamicgraph::sot::Device::ffPose_ [protected] |
Store Position of free flyer joint.
The current state of the robot from the command viewpoint.
This corresponds to the real encoders values and take into account the stabilization step.
Therefore, this usually does *not* match the state control input signal.
dg::Vector dynamicgraph::sot::Device::state_ [protected] |
dg::Vector dynamicgraph::sot::Device::vel_control_ [protected] |
bool dynamicgraph::sot::Device::vel_controlInit_ [protected] |
dg::Vector dynamicgraph::sot::Device::velocity_ [protected] |
bool dynamicgraph::sot::Device::withForceSignals[4] [protected] |
The ZMP reference send by the previous controller.