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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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. More...
 

Protected Attributes

bool dynamic_graph_stopped_
 
dgs::AbstractSotExternalInterface * sotController_
 the sot-hrp2 controller More...
 
po::variables_map vm_
 
std::string dynamicLibraryName_
 
XmlRpc::XmlRpcValue stateVectorMap_
 Map between SoT state vector and some joint_state_links. More...
 
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. More...
 
ros::Publisher joint_pub_
 
sensor_msgs::JointState joint_state_
 
int nbOfJoints_
 
parallel_joints_to_state_vector_t::size_type nbOfParallelJoints_
 

Member Typedef Documentation

◆ parallel_joints_to_state_vector_t

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()

Member Function Documentation

◆ Initialization()

void SotLoaderBasic::Initialization ( )

Referenced by ~SotLoaderBasic().

◆ initializeRosNode()

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

Reimplemented in SotLoader.

Referenced by ~SotLoaderBasic().

◆ initPublication()

int SotLoaderBasic::initPublication ( )

Referenced by ~SotLoaderBasic().

◆ isDynamicGraphStopped()

bool SotLoaderBasic::isDynamicGraphStopped ( )
inline

◆ parseOptions()

int SotLoaderBasic::parseOptions ( int  argc,
char *  argv[] 
)

Referenced by ~SotLoaderBasic().

◆ readSotVectorStateParam()

int SotLoaderBasic::readSotVectorStateParam ( )

Referenced by ~SotLoaderBasic().

◆ setDynamicLibraryName()

void SotLoaderBasic::setDynamicLibraryName ( std::string &  afilename)

Referenced by isDynamicGraphStopped().

◆ start_dg()

bool SotLoaderBasic::start_dg ( std_srvs::Empty::Request &  request,
std_srvs::Empty::Response &  response 
)

Referenced by ~SotLoaderBasic().

◆ stop_dg()

bool SotLoaderBasic::stop_dg ( std_srvs::Empty::Request &  request,
std_srvs::Empty::Response &  response 
)

Referenced by ~SotLoaderBasic().

Member Data Documentation

◆ coefficient_parallel_joints_

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

Coefficient between parallel joints and the state vector.

◆ dynamic_graph_stopped_

bool SotLoaderBasic::dynamic_graph_stopped_
protected

Referenced by isDynamicGraphStopped().

◆ dynamicLibraryName_

std::string SotLoaderBasic::dynamicLibraryName_
protected

◆ joint_pub_

ros::Publisher SotLoaderBasic::joint_pub_
protected

◆ joint_state_

sensor_msgs::JointState SotLoaderBasic::joint_state_
protected

◆ nbOfJoints_

int SotLoaderBasic::nbOfJoints_
protected

◆ nbOfParallelJoints_

parallel_joints_to_state_vector_t::size_type SotLoaderBasic::nbOfParallelJoints_
protected

◆ parallel_joints_to_state_vector_

parallel_joints_to_state_vector_t SotLoaderBasic::parallel_joints_to_state_vector_
protected

◆ sotController_

dgs::AbstractSotExternalInterface* SotLoaderBasic::sotController_
protected

the sot-hrp2 controller

◆ stateVectorMap_

XmlRpc::XmlRpcValue SotLoaderBasic::stateVectorMap_
protected

Map between SoT state vector and some joint_state_links.

◆ vm_

po::variables_map SotLoaderBasic::vm_
protected