dynamicgraph::sot::GripperControlPlugin Class Reference

#include <sot/core/gripper-control.hh>

Inheritance diagram for dynamicgraph::sot::GripperControlPlugin:
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Public Member Functions

 GripperControlPlugin (const std::string &name)
 
virtual ~GripperControlPlugin (void)
 
virtual std::string getDocString () const
 
void initCommands ()
 
void setOffset (const double &value)
 
- Public Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
virtual const std::string & getClassName () const=0
 
bool hasSignal (const std::string &signame) const
 
SignalBase< int > & getSignal (const std::string &signalName)
 
const SignalBase< int > & getSignal (const std::string &signalName) const
 
std::ostream & displaySignalList (std::ostream &os) const
 
virtual std::ostream & writeGraph (std::ostream &os) const
 
virtual std::ostream & writeCompletionList (std::ostream &os) const
 
virtual void display (std::ostream &os) const
 
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 
virtual SignalBase< int > * test ()
 
virtual void test2 (SignalBase< int > *)
 
const std::string & getCommandList () const
 
CommandMap_t getNewStyleCommandMap ()
 
command::CommandgetNewStyleCommand (const std::string &cmdName)
 
SignalMap getSignalMap () const
 
- Public Member Functions inherited from dynamicgraph::sot::GripperControl
 GripperControl (void)
 
void computeIncrement (const ml::Vector &torques, const ml::Vector &torqueLimits, const ml::Vector &currentNormVel)
 Computes the. More...
 
ml::VectorcomputeDesiredPosition (const ml::Vector &currentPos, const ml::Vector &desiredPos, const ml::Vector &torques, const ml::Vector &torqueLimits, ml::Vector &referencePos)
 

Public Attributes

bool calibrationStarted
 
dg::SignalPtr< ml::Vector, int > positionSIN
 
dg::SignalPtr< ml::Vector, int > positionDesSIN
 
dg::SignalPtr< ml::Vector, int > torqueSIN
 
dg::SignalPtr< ml::Vector, int > torqueLimitSIN
 
dg::SignalPtr< Flags, int > selectionSIN
 
dg::SignalPtr< ml::Vector, int > positionFullSizeSIN
 
dg::SignalTimeDependent< ml::Vector, int > positionReduceSOUT
 
dg::SignalPtr< ml::Vector, int > torqueFullSizeSIN
 
dg::SignalTimeDependent< ml::Vector, int > torqueReduceSOUT
 
dg::SignalPtr< ml::Vector, int > torqueLimitFullSizeSIN
 
dg::SignalTimeDependent< ml::Vector, int > torqueLimitReduceSOUT
 
dg::SignalTimeDependent< ml::Vector, int > desiredPositionSOUT
 

Additional Inherited Members

- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * > SignalMap
 
typedef std::map< const std::string, command::Command *> CommandMap_t
 
- Static Public Member Functions inherited from dynamicgraph::sot::GripperControl
static ml::Vectorselector (const ml::Vector &fullsize, const Flags &selec, ml::Vector &desPos)
 select only some of the values of the vector fullsize, based on the Flags vector. More...
 
- Protected Member Functions inherited from dynamicgraph::Entity
void addCommand (const std::string &name, command::Command *command)
 
void entityRegistration ()
 
void entityDeregistration ()
 
void signalRegistration (const SignalArray< int > &signals)
 
void signalDeregistration (const std::string &name)
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
- Protected Attributes inherited from dynamicgraph::sot::GripperControl
double offset
 
ml::Vector factor
 The multiplication. More...
 
- Static Protected Attributes inherited from dynamicgraph::sot::GripperControl
static const double OFFSET_DEFAULT
 

Constructor & Destructor Documentation

◆ GripperControlPlugin()

dynamicgraph::sot::GripperControlPlugin::GripperControlPlugin ( const std::string &  name)

◆ ~GripperControlPlugin()

virtual dynamicgraph::sot::GripperControlPlugin::~GripperControlPlugin ( void  )
virtual

Member Function Documentation

◆ getDocString()

virtual std::string dynamicgraph::sot::GripperControlPlugin::getDocString ( ) const
virtual

Reimplemented from dynamicgraph::Entity.

◆ initCommands()

void dynamicgraph::sot::GripperControlPlugin::initCommands ( )

◆ setOffset()

void dynamicgraph::sot::GripperControlPlugin::setOffset ( const double &  value)

Member Data Documentation

◆ calibrationStarted

bool dynamicgraph::sot::GripperControlPlugin::calibrationStarted

◆ desiredPositionSOUT

dg::SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::GripperControlPlugin::desiredPositionSOUT

◆ positionDesSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::GripperControlPlugin::positionDesSIN

◆ positionFullSizeSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::GripperControlPlugin::positionFullSizeSIN

◆ positionReduceSOUT

dg::SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::GripperControlPlugin::positionReduceSOUT

◆ positionSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::GripperControlPlugin::positionSIN

◆ selectionSIN

dg::SignalPtr<Flags,int> dynamicgraph::sot::GripperControlPlugin::selectionSIN

◆ torqueFullSizeSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::GripperControlPlugin::torqueFullSizeSIN

◆ torqueLimitFullSizeSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::GripperControlPlugin::torqueLimitFullSizeSIN

◆ torqueLimitReduceSOUT

dg::SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::GripperControlPlugin::torqueLimitReduceSOUT

◆ torqueLimitSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::GripperControlPlugin::torqueLimitSIN

◆ torqueReduceSOUT

dg::SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::GripperControlPlugin::torqueReduceSOUT

◆ torqueSIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::GripperControlPlugin::torqueSIN