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dynamicgraph::sot::Device Class Reference

#include <sot/core/device.hh>

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

Public Types

enum  ForceSignalSource {
  FORCE_SIGNAL_RLEG,
  FORCE_SIGNAL_LLEG,
  FORCE_SIGNAL_RARM,
  FORCE_SIGNAL_LARM
}
 
- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string,
SignalBase< int > * > 
SignalMap
 
typedef std::map< const
std::string, command::Command * > 
CommandMap_t
 

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 Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
virtual std::string getDocString () const
 
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 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 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. More...
 
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. More...
 
dynamicgraph::Signal
< dg::Vector, int > 
ZMPPreviousControllerSOUT
 The ZMP reference send by the previous controller. More...
 

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. More...
 
virtual void integrate (const double &dt)
 Compute the new position, from the current control. More...
 
const MatrixHomogeneousfreeFlyerPose () const
 Get freeflyer pose. 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

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. More...
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 

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 &   
)
inlinevirtual

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
inlinevirtual

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)
protectedvirtual

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

dynamicgraph::SignalPtr<dg::Vector,int> dynamicgraph::sot::Device::attitudeSIN
dynamicgraph::Signal<MatrixRotation,int> dynamicgraph::sot::Device::attitudeSOUT
const std::string dynamicgraph::sot::Device::CLASS_NAME
static
ControlInput dynamicgraph::sot::Device::controlInputType_
protected
dynamicgraph::SignalPtr<dg::Vector,int> dynamicgraph::sot::Device::controlSIN
MatrixHomogeneous dynamicgraph::sot::Device::ffPose_
protected

Store Position of free flyer joint.

dynamicgraph::Signal<dg::Vector,int>* dynamicgraph::sot::Device::forcesSOUT[4]
dynamicgraph::Signal<dg::Vector,int> dynamicgraph::sot::Device::motorcontrolSOUT

The current state of the robot from the command viewpoint.

PeriodicCall dynamicgraph::sot::Device::periodicCallAfter_
protected
PeriodicCall dynamicgraph::sot::Device::periodicCallBefore_
protected
dynamicgraph::Signal<dg::Vector,int> dynamicgraph::sot::Device::previousControlSOUT
dynamicgraph::Signal<dg::Vector,int> dynamicgraph::sot::Device::pseudoTorqueSOUT
dynamicgraph::Signal<dg::Vector, int> dynamicgraph::sot::Device::robotState_

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.

dynamicgraph::Signal<dg::Vector, int> dynamicgraph::sot::Device::robotVelocity_
dg::Vector dynamicgraph::sot::Device::state_
protected
dynamicgraph::Signal<dg::Vector,int> dynamicgraph::sot::Device::stateSOUT
dg::Vector dynamicgraph::sot::Device::vel_control_
protected
bool dynamicgraph::sot::Device::vel_controlInit_
protected
dg::Vector dynamicgraph::sot::Device::velocity_
protected
dynamicgraph::Signal<dg::Vector,int> dynamicgraph::sot::Device::velocitySOUT
bool dynamicgraph::sot::Device::withForceSignals[4]
protected
dynamicgraph::Signal<dg::Vector,int> dynamicgraph::sot::Device::ZMPPreviousControllerSOUT

The ZMP reference send by the previous controller.

dynamicgraph::SignalPtr<dg::Vector,int> dynamicgraph::sot::Device::zmpSIN