#include <sot/core/device.hh>
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dynamicgraph::SignalPtr
< dg::Vector, int > | controlSIN |
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dynamicgraph::SignalPtr
< dg::Vector, int > | attitudeSIN |
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dynamicgraph::SignalPtr
< dg::Vector, int > | zmpSIN |
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dynamicgraph::Signal
< dg::Vector, int > | stateSOUT |
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dynamicgraph::Signal
< dg::Vector, int > | robotState_ |
| This corresponds to the real encoders values and take into account the stabilization step. More...
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dynamicgraph::Signal
< dg::Vector, int > | robotVelocity_ |
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dynamicgraph::Signal
< dg::Vector, int > | velocitySOUT |
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dynamicgraph::Signal
< MatrixRotation, int > | attitudeSOUT |
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dynamicgraph::Signal
< dg::Vector, int > * | forcesSOUT [4] |
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dynamicgraph::Signal
< dg::Vector, int > | pseudoTorqueSOUT |
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dynamicgraph::Signal
< dg::Vector, int > | previousControlSOUT |
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dynamicgraph::Signal
< dg::Vector, int > | motorcontrolSOUT |
| The current state of the robot from the command viewpoint. More...
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dynamicgraph::Signal
< dg::Vector, int > | ZMPPreviousControllerSOUT |
| The ZMP reference send by the previous controller. More...
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Enumerator |
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FORCE_SIGNAL_RLEG |
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FORCE_SIGNAL_LLEG |
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FORCE_SIGNAL_RARM |
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FORCE_SIGNAL_LARM |
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dynamicgraph::sot::Device::Device |
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const std::string & |
name | ) |
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virtual dynamicgraph::sot::Device::~Device |
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virtual |
virtual void dynamicgraph::sot::Device::display |
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std::ostream & |
os | ) |
const |
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virtual |
virtual const std::string& dynamicgraph::sot::Device::getClassName |
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void |
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const |
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inlinevirtual |
virtual void dynamicgraph::sot::Device::increment |
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const double & |
dt = 5e-2 | ) |
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virtual |
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.
void dynamicgraph::sot::Device::integrateRollPitchYaw |
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dg::Vector & |
state, |
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const dg::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.
virtual void dynamicgraph::sot::Device::setControlInputType |
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const std::string & |
cit | ) |
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virtual |
virtual void dynamicgraph::sot::Device::setNoIntegration |
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virtual |
virtual void dynamicgraph::sot::Device::setRoot |
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const dg::Matrix & |
root | ) |
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virtual |
virtual void dynamicgraph::sot::Device::setRoot |
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const MatrixHomogeneous & |
worldMwaist | ) |
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virtual |
virtual void dynamicgraph::sot::Device::setSecondOrderIntegration |
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virtual |
virtual void dynamicgraph::sot::Device::setState |
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const dg::Vector & |
st | ) |
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virtual |
virtual void dynamicgraph::sot::Device::setStateSize |
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const unsigned int & |
size | ) |
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virtual |
virtual void dynamicgraph::sot::Device::setVelocity |
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const dg::Vector & |
vel | ) |
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virtual |
void dynamicgraph::sot::Device::setVelocitySize |
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const unsigned int & |
size | ) |
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const std::string dynamicgraph::sot::Device::CLASS_NAME |
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static |
Store Position of free flyer joint.
The current state of the robot from the command viewpoint.
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.
dg::Vector dynamicgraph::sot::Device::vel_control_ |
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protected |
bool dynamicgraph::sot::Device::vel_controlInit_ |
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protected |
bool dynamicgraph::sot::Device::withForceSignals[4] |
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protected |
The ZMP reference send by the previous controller.