11 #ifndef _SOT_TalosController_H_ 12 #define _SOT_TalosController_H_ 14 #include <pinocchio/fwd.hpp> 16 #include <dynamic-graph/entity.h> 17 #include <dynamic-graph/signal.h> 18 #include <dynamic-graph/signal-ptr.h> 19 #include <dynamic-graph/linear-algebra.h> 20 #include <sot/core/device.hh> 21 #include <sot/core/abstract-sot-external-interface.hh> 24 #include <dynamic_graph_bridge/ros_interpreter.hh> 36 void setupSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
42 void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut);
50 boost::shared_ptr<ros::NodeHandle>
nh_;
59 void runPython(std::ostream &file,
const std::string &command, dynamicgraph::Interpreter &interpreter);
void setupSetSensors(std::map< std::string, dgsot::SensorValues > &sensorsIn)
Definition: sot-talos-controller.cpp:52
SoTTalosDevice * device_
Definition: sot-talos-controller.hh:65
void runPython(std::ostream &file, const std::string &command, dynamicgraph::Interpreter &interpreter)
Run a python command.
Definition: sot-talos-controller.cpp:79
Definition: sot-talos-controller.hh:27
Definition: sot-talos-device.hh:32
void setSecondOrderIntegration(void)
Definition: sot-talos-controller.cpp:77
void init()
Definition: sot-talos-controller.cpp:34
void getControl(std::map< std::string, dgsot::ControlValues > &anglesOut)
Definition: sot-talos-controller.cpp:64
void cleanupSetSensors(std::map< std::string, dgsot::SensorValues > &sensorsIn)
Definition: sot-talos-controller.cpp:60
void updateRobotState(std::vector< double > &anglesIn)
static const std::string LOG_PYTHON
Definition: sot-talos-controller.hh:29
void setNoIntegration(void)
Definition: sot-talos-controller.cpp:75
boost::shared_ptr< dynamicgraph::Interpreter > interpreter_
Embedded python interpreter accessible via Corba/ros.
Definition: sot-talos-controller.hh:48
Definition: sot-talos-device.cpp:333
boost::shared_ptr< ros::NodeHandle > nh_
Definition: sot-talos-controller.hh:50
virtual ~SoTTalosController()
Definition: sot-talos-controller.cpp:48
void nominalSetSensors(std::map< std::string, dgsot::SensorValues > &sensorsIn)
Definition: sot-talos-controller.cpp:56
boost::shared_ptr< ros::AsyncSpinner > spinner_
Definition: sot-talos-controller.hh:51
virtual void startupPython()
Definition: sot-talos-controller.cpp:99