#include <sot/core/device.hh>
Public Types | |
enum | ForceSignalSource { FORCE_SIGNAL_RLEG, FORCE_SIGNAL_LLEG, FORCE_SIGNAL_RARM, FORCE_SIGNAL_LARM } |
![]() | |
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 |
virtual void | cmdDisplay () |
virtual void | setRoot (const dg::Matrix &root) |
virtual void | setRoot (const MatrixHomogeneous &worldMwaist) |
Sanity check parameterization | |
void | setSanityCheck (const bool &enableCheck) |
void | setPositionBounds (const Vector &lower, const Vector &upper) |
void | setVelocityBounds (const Vector &lower, const Vector &upper) |
void | setTorqueBounds (const Vector &lower, const Vector &upper) |
![]() | |
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::Command * | getNewStyleCommand (const std::string &cmdName) |
SignalMap | getSignalMap () const |
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0) |
void | setLoggerVerbosityLevel (LoggerVerbosity lv) |
LoggerVerbosity | getLoggerVerbosityLevel () |
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 MatrixHomogeneous & | freeFlyerPose () const |
Get freeflyer pose. More... | |
![]() | |
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 | sanityCheck_ |
dg::Vector | vel_control_ |
ControlInput | controlInputType_ |
bool | withForceSignals [4] |
PeriodicCall | periodicCallBefore_ |
PeriodicCall | periodicCallAfter_ |
double | timestep_ |
MatrixHomogeneous | ffPose_ |
Store Position of free flyer joint. More... | |
Robot bounds used for sanity checks | |
Vector | upperPosition_ |
Vector | upperVelocity_ |
Vector | upperTorque_ |
Vector | lowerPosition_ |
Vector | lowerVelocity_ |
Vector | lowerTorque_ |
![]() | |
std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
Logger | logger_ |
Friends | |
SOT_CORE_EXPORT friend std::ostream & | operator<< (std::ostream &os, const Device &r) |
dynamicgraph::sot::Device::Device | ( | const std::string & | name | ) |
|
virtual |
|
virtual |
|
virtual |
Reimplemented from dynamicgraph::Entity.
|
protected |
Get freeflyer pose.
|
inlinevirtual |
Reimplemented from dynamicgraph::Entity.
Reimplemented in dynamicgraph::sot::RobotSimu.
|
virtual |
|
protectedvirtual |
Compute the new position, from the current control.
When sanity checks are enabled, this checks that the control is within bounds. There are three cases, depending on what the control is:
|
protected |
Compute roll pitch yaw angles of freeflyer joint.
|
virtual |
|
virtual |
|
virtual |
|
virtual |
void dynamicgraph::sot::Device::setSanityCheck | ( | const bool & | enableCheck | ) |
|
virtual |
|
virtual |
|
virtual |
|
virtual |
void dynamicgraph::sot::Device::setVelocitySize | ( | const unsigned int & | size | ) |
|
friend |
dynamicgraph::SignalPtr<dg::Vector,int> dynamicgraph::sot::Device::attitudeSIN |
dynamicgraph::Signal<MatrixRotation,int> dynamicgraph::sot::Device::attitudeSOUT |
|
static |
|
protected |
dynamicgraph::SignalPtr<dg::Vector,int> dynamicgraph::sot::Device::controlSIN |
|
protected |
Store Position of free flyer joint.
dynamicgraph::Signal<dg::Vector,int>* dynamicgraph::sot::Device::forcesSOUT[4] |
The force torque sensors.
|
protected |
|
protected |
|
protected |
dynamicgraph::Signal<dg::Vector,int> dynamicgraph::sot::Device::motorcontrolSOUT |
The current state of the robot from the command viewpoint.
|
protected |
|
protected |
dynamicgraph::Signal<dg::Vector,int> dynamicgraph::sot::Device::previousControlSOUT |
dynamicgraph::Signal<dg::Vector,int> dynamicgraph::sot::Device::pseudoTorqueSOUT |
Motor torques.
dynamicgraph::Signal<dg::Vector, int> dynamicgraph::sot::Device::robotState_ |
dynamicgraph::Signal<dg::Vector, int> dynamicgraph::sot::Device::robotVelocity_ |
Motor velocities.
|
protected |
|
protected |
dynamicgraph::Signal<dg::Vector,int> dynamicgraph::sot::Device::stateSOUT |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
dynamicgraph::Signal<dg::Vector,int> dynamicgraph::sot::Device::velocitySOUT |
|
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 |