#include <sot/core/device.hh>
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dynamicgraph::SignalPtr< ml::Vector, int > | controlSIN |
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dynamicgraph::SignalPtr< ml::Vector, int > | attitudeSIN |
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dynamicgraph::SignalPtr< ml::Vector, int > | zmpSIN |
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dynamicgraph::Signal< ml::Vector, int > | stateSOUT |
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dynamicgraph::Signal< ml::Vector, int > | velocitySOUT |
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dynamicgraph::Signal< MatrixRotation, int > | attitudeSOUT |
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dynamicgraph::Signal< ml::Vector, int > * | forcesSOUT [4] |
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dynamicgraph::Signal< ml::Vector, int > | pseudoTorqueSOUT |
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dynamicgraph::Signal< ml::Vector, int > | previousControlSOUT |
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dynamicgraph::Signal< ml::Vector, int > | motorcontrolSOUT |
| The current state of the robot from the command viewpoint. More...
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dynamicgraph::Signal< ml::Vector, int > | ZMPPreviousControllerSOUT |
| The ZMP reference send by the previous controller. More...
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◆ ForceSignalSource
Enumerator |
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FORCE_SIGNAL_RLEG | |
FORCE_SIGNAL_LLEG | |
FORCE_SIGNAL_RARM | |
FORCE_SIGNAL_LARM | |
◆ Device()
dynamicgraph::sot::Device::Device |
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const std::string & |
name | ) |
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◆ ~Device()
virtual dynamicgraph::sot::Device::~Device |
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virtual |
◆ commandLine()
void dynamicgraph::sot::Device::commandLine |
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const std::string & |
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std::istringstream & |
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std::ostream & |
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) |
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inlinevirtual |
◆ display()
virtual void dynamicgraph::sot::Device::display |
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std::ostream & |
os | ) |
const |
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virtual |
◆ freeFlyerPose()
◆ getClassName()
virtual const std::string& dynamicgraph::sot::Device::getClassName |
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void |
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const |
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inlinevirtual |
◆ increment()
virtual void dynamicgraph::sot::Device::increment |
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const double & |
dt = 5e-2 | ) |
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virtual |
◆ integrate()
virtual void dynamicgraph::sot::Device::integrate |
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const double & |
dt | ) |
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protectedvirtual |
Compute the new position, from the current control.
◆ integrateRollPitchYaw()
void dynamicgraph::sot::Device::integrateRollPitchYaw |
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ml::Vector & |
state, |
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const ml::Vector & |
control, |
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double |
dt |
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) |
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protected |
Compute roll pitch yaw angles of freeflyer joint.
◆ setControlInputType()
virtual void dynamicgraph::sot::Device::setControlInputType |
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const std::string & |
cit | ) |
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virtual |
◆ setRoot() [1/2]
virtual void dynamicgraph::sot::Device::setRoot |
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const ml::Matrix & |
root | ) |
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virtual |
◆ setRoot() [2/2]
virtual void dynamicgraph::sot::Device::setRoot |
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const MatrixHomogeneous & |
worldMwaist | ) |
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virtual |
◆ setSecondOrderIntegration()
virtual void dynamicgraph::sot::Device::setSecondOrderIntegration |
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virtual |
◆ setState()
virtual void dynamicgraph::sot::Device::setState |
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const ml::Vector & |
st | ) |
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virtual |
◆ setStateSize()
virtual void dynamicgraph::sot::Device::setStateSize |
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const unsigned int & |
size | ) |
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virtual |
◆ setVelocity()
virtual void dynamicgraph::sot::Device::setVelocity |
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const ml::Vector & |
vel | ) |
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virtual |
◆ setVelocitySize()
void dynamicgraph::sot::Device::setVelocitySize |
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const unsigned int & |
size | ) |
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◆ operator<<
◆ attitudeSIN
◆ attitudeSOUT
◆ CLASS_NAME
const std::string dynamicgraph::sot::Device::CLASS_NAME |
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static |
◆ controlInputType_
◆ controlSIN
◆ ffPose_
Store Position of free flyer joint.
◆ forcesSOUT
◆ motorcontrolSOUT
The current state of the robot from the command viewpoint.
◆ periodicCallAfter_
◆ periodicCallBefore_
◆ previousControlSOUT
◆ pseudoTorqueSOUT
◆ state_
◆ stateSOUT
◆ vel_control_
ml::Vector dynamicgraph::sot::Device::vel_control_ |
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protected |
◆ vel_controlInit_
bool dynamicgraph::sot::Device::vel_controlInit_ |
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protected |
◆ velocity_
◆ velocitySOUT
◆ withForceSignals
bool dynamicgraph::sot::Device::withForceSignals[4] |
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protected |
◆ ZMPPreviousControllerSOUT
The ZMP reference send by the previous controller.
◆ zmpSIN