dynamicgraph::sot::Device Class Reference

#include <sot/core/device.hh>

Inheritance diagram for dynamicgraph::sot::Device:
[legend]

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 ()
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 MatrixHomogeneousfreeFlyerPose () 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)

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.

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)

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.

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.

The ZMP reference send by the previous controller.