#include <sot/core/parameter-server.hh>
dynamicgraph::sot::ParameterServer::ParameterServer |
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const std::string & |
name | ) |
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bool dynamicgraph::sot::ParameterServer::convertJointNameToJointId |
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const std::string & |
name, |
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unsigned int & |
id |
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) |
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protected |
time to sleep at every iteration (to slow down simulation)
virtual void dynamicgraph::sot::ParameterServer::display |
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std::ostream & |
os | ) |
const |
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virtual |
void dynamicgraph::sot::ParameterServer::displayRobotUtil |
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void dynamicgraph::sot::ParameterServer::init |
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const double & |
dt, |
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const std::string & |
urdfFile, |
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const std::string & |
robotRef |
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) |
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Initialize.
- Parameters
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dt,: | control interval |
urdfFile,: | path to the URDF model of the robot |
bool dynamicgraph::sot::ParameterServer::isJointInRange |
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unsigned int |
id, |
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double |
q |
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) |
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protected |
void dynamicgraph::sot::ParameterServer::setFootFrameName |
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const std::string & |
, |
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const std::string & |
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) |
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void dynamicgraph::sot::ParameterServer::setForceNameToForceId |
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const std::string & |
forceName, |
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const double & |
forceId |
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) |
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void dynamicgraph::sot::ParameterServer::setImuJointName |
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const std::string & |
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void dynamicgraph::sot::ParameterServer::setJointLimitsFromId |
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const double & |
jointId, |
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const double & |
lq, |
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const double & |
uq |
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) |
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Set the mapping between urdf and sot.
void dynamicgraph::sot::ParameterServer::setNameToId |
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const std::string & |
jointName, |
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const double & |
jointId |
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) |
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Commands related to joint name and joint id.
void dynamicgraph::sot::ParameterServer::setRightFootForceSensorXYZ |
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const dynamicgraph::Vector & |
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void dynamicgraph::sot::ParameterServer::updateJointCtrlModesOutputSignal |
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protected |
double dynamicgraph::sot::ParameterServer::m_dt |
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protected |
true if the entity has been successfully initialized
bool dynamicgraph::sot::ParameterServer::m_emergency_stop_triggered |
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protected |
bool dynamicgraph::sot::ParameterServer::m_initSucceeded |
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protected |
bool dynamicgraph::sot::ParameterServer::m_is_first_iter |
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protected |
true if an emergency condition as been triggered either by an other entity, or by control limit violation
int dynamicgraph::sot::ParameterServer::m_iter |
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protected |
true at the first iteration, false otherwise
double dynamicgraph::sot::ParameterServer::m_sleep_time |
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protected |