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dynamicgraph::sot::RobotSimu Class Reference

#include <sot/core/robot-simu.hh>

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

Public Member Functions

 RobotSimu (const std::string &inName)
 
virtual const std::string & getClassName (void) const
 
- Public Member Functions inherited from dynamicgraph::sot::Device
 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)
 
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)
 
- 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
 
void sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
 
void setLoggerVerbosityLevel (LoggerVerbosity lv)
 
LoggerVerbosity getLoggerVerbosityLevel ()
 
bool setTimeSample (double t)
 
double getTimeSample ()
 
bool setStreamPrintPeriod (double t)
 
double getStreamPrintPeriod ()
 

Static Public Attributes

static const std::string CLASS_NAME
 
- Static Public Attributes inherited from dynamicgraph::sot::Device
static const std::string CLASS_NAME
 

Additional Inherited Members

- Public Types inherited from dynamicgraph::sot::Device
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 Attributes inherited from dynamicgraph::sot::Device
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 > 
velocitySOUT
 
dynamicgraph::Signal
< MatrixRotation, int > 
attitudeSOUT
 
dynamicgraph::Signal
< dg::Vector, int > 
motorcontrolSOUT
 The current state of the robot from the command viewpoint. More...
 
dynamicgraph::Signal
< dg::Vector, int > 
previousControlSOUT
 
dynamicgraph::Signal
< dg::Vector, int > 
ZMPPreviousControllerSOUT
 The ZMP reference send by the previous controller. More...
 
dynamicgraph::Signal
< dg::Vector, int > 
robotState_
 
dynamicgraph::Signal
< dg::Vector, int > 
robotVelocity_
 Motor velocities. More...
 
dynamicgraph::Signal
< dg::Vector, int > * 
forcesSOUT [4]
 The force torque sensors. More...
 
dynamicgraph::Signal
< dg::Vector, int > 
pseudoTorqueSOUT
 Motor torques. More...
 
- Protected Member Functions inherited from dynamicgraph::sot::Device
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 inherited from dynamicgraph::sot::Device
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...
 
Vector upperPosition_
 
Vector upperVelocity_
 
Vector upperTorque_
 
Vector lowerPosition_
 
Vector lowerVelocity_
 
Vector lowerTorque_
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
Logger logger_
 

Constructor & Destructor Documentation

dynamicgraph::sot::RobotSimu::RobotSimu ( const std::string &  inName)

Member Function Documentation

virtual const std::string& dynamicgraph::sot::RobotSimu::getClassName ( void  ) const
inlinevirtual

Reimplemented from dynamicgraph::sot::Device.

Member Data Documentation

const std::string dynamicgraph::sot::RobotSimu::CLASS_NAME
static