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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 ()
 Load the SoT device corresponding to the robot. More...
 
void CleanUp ()
 Unload the library which handles the robot device. More...
 
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::AbstractSotExternalInterfacesotController_
 the sot-hrp2 controller More...
 
po::variables_map vm_
 
std::string dynamicLibraryName_
 
void * sotRobotControllerLibrary_
 Handle on the SoT library. More...
 
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::ServiceServer service_start_
 Advertises start_dynamic_graph services. More...
 
ros::ServiceServer service_stop_
 Advertises stop_dynamic_graph services. More...
 
ros::Publisher joint_pub_
 
sensor_msgs::JointState joint_state_
 
int nbOfJoints_
 
parallel_joints_to_state_vector_t::size_type nbOfParallelJoints_
 

Member Typedef Documentation

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 ( )
inline

Member Function Documentation

void SotLoaderBasic::CleanUp ( )

Unload the library which handles the robot device.

void SotLoaderBasic::Initialization ( )

Load the SoT device corresponding to the robot.

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

Reimplemented in SotLoader.

int SotLoaderBasic::initPublication ( )
bool SotLoaderBasic::isDynamicGraphStopped ( )
inline
int SotLoaderBasic::parseOptions ( int  argc,
char *  argv[] 
)
int SotLoaderBasic::readSotVectorStateParam ( )
void SotLoaderBasic::setDynamicLibraryName ( std::string &  afilename)
bool SotLoaderBasic::start_dg ( std_srvs::Empty::Request &  request,
std_srvs::Empty::Response &  response 
)
bool SotLoaderBasic::stop_dg ( std_srvs::Empty::Request &  request,
std_srvs::Empty::Response &  response 
)

Member Data Documentation

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

Coefficient between parallel joints and the state vector.

bool SotLoaderBasic::dynamic_graph_stopped_
protected

Referenced by isDynamicGraphStopped().

std::string SotLoaderBasic::dynamicLibraryName_
protected
ros::Publisher SotLoaderBasic::joint_pub_
protected
sensor_msgs::JointState SotLoaderBasic::joint_state_
protected
int SotLoaderBasic::nbOfJoints_
protected
parallel_joints_to_state_vector_t::size_type SotLoaderBasic::nbOfParallelJoints_
protected
parallel_joints_to_state_vector_t SotLoaderBasic::parallel_joints_to_state_vector_
protected
ros::ServiceServer SotLoaderBasic::service_start_
protected

Advertises start_dynamic_graph services.

ros::ServiceServer SotLoaderBasic::service_stop_
protected

Advertises stop_dynamic_graph services.

dgs::AbstractSotExternalInterface* SotLoaderBasic::sotController_
protected

the sot-hrp2 controller

void* SotLoaderBasic::sotRobotControllerLibrary_
protected

Handle on the SoT library.

XmlRpc::XmlRpcValue SotLoaderBasic::stateVectorMap_
protected

Map between SoT state vector and some joint_state_links.

po::variables_map SotLoaderBasic::vm_
protected