dynamicgraph::sot::ParameterServer Class Reference

#include <sot/core/parameter-server.hh>

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

Public Member Functions

 ParameterServer (const std::string &name)
 
void init (const double &dt, const std::string &urdfFile, const std::string &robotRef)
 Initialize. More...
 
void setNameToId (const std::string &jointName, const double &jointId)
 Commands related to joint name and joint id. More...
 
void setJointLimitsFromId (const double &jointId, const double &lq, const double &uq)
 
void setForceLimitsFromId (const double &jointId, const dynamicgraph::Vector &lq, const dynamicgraph::Vector &uq)
 Command related to ForceUtil. More...
 
void setForceNameToForceId (const std::string &forceName, const double &forceId)
 
void setRightFootSoleXYZ (const dynamicgraph::Vector &)
 Commands related to FootUtil. More...
 
void setRightFootForceSensorXYZ (const dynamicgraph::Vector &)
 
void setFootFrameName (const std::string &, const std::string &)
 
void setImuJointName (const std::string &)
 
void displayRobotUtil ()
 
void setJoints (const dynamicgraph::Vector &)
 Set the mapping between urdf and sot. More...
 
virtual void display (std::ostream &os) const
 
- Public Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
virtual const std::string & getClassName () 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 ()
 

Protected Member Functions

bool convertJointNameToJointId (const std::string &name, unsigned int &id)
 time to sleep at every iteration (to slow down simulation) More...
 
bool isJointInRange (unsigned int id, double q)
 
void updateJointCtrlModesOutputSignal ()
 
- 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

RobotUtilShrPtr m_robot_util
 
bool m_initSucceeded
 
double m_dt
 true if the entity has been successfully initialized More...
 
bool m_emergency_stop_triggered
 control loop time period More...
 
bool m_is_first_iter
 true if an emergency condition as been triggered either by an other entity, or by control limit violation More...
 
int m_iter
 true at the first iteration, false otherwise More...
 
double m_sleep_time
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
Logger logger_
 

Additional Inherited Members

- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > *> SignalMap
 
typedef std::map< const std::string, command::Command *> CommandMap_t
 

Constructor & Destructor Documentation

◆ ParameterServer()

dynamicgraph::sot::ParameterServer::ParameterServer ( const std::string &  name)

Member Function Documentation

◆ convertJointNameToJointId()

bool dynamicgraph::sot::ParameterServer::convertJointNameToJointId ( const std::string &  name,
unsigned int &  id 
)
protected

time to sleep at every iteration (to slow down simulation)

◆ display()

virtual void dynamicgraph::sot::ParameterServer::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

◆ displayRobotUtil()

void dynamicgraph::sot::ParameterServer::displayRobotUtil ( )

◆ init()

void dynamicgraph::sot::ParameterServer::init ( const double &  dt,
const std::string &  urdfFile,
const std::string &  robotRef 
)

Initialize.

Parameters
dtcontrol interval
urdfFilepath to the URDF model of the robot

◆ isJointInRange()

bool dynamicgraph::sot::ParameterServer::isJointInRange ( unsigned int  id,
double  q 
)
protected

◆ setFootFrameName()

void dynamicgraph::sot::ParameterServer::setFootFrameName ( const std::string &  ,
const std::string &   
)

◆ setForceLimitsFromId()

void dynamicgraph::sot::ParameterServer::setForceLimitsFromId ( const double &  jointId,
const dynamicgraph::Vector lq,
const dynamicgraph::Vector uq 
)

Command related to ForceUtil.

◆ setForceNameToForceId()

void dynamicgraph::sot::ParameterServer::setForceNameToForceId ( const std::string &  forceName,
const double &  forceId 
)

◆ setImuJointName()

void dynamicgraph::sot::ParameterServer::setImuJointName ( const std::string &  )

◆ setJointLimitsFromId()

void dynamicgraph::sot::ParameterServer::setJointLimitsFromId ( const double &  jointId,
const double &  lq,
const double &  uq 
)

◆ setJoints()

void dynamicgraph::sot::ParameterServer::setJoints ( const dynamicgraph::Vector )

Set the mapping between urdf and sot.

◆ setNameToId()

void dynamicgraph::sot::ParameterServer::setNameToId ( const std::string &  jointName,
const double &  jointId 
)

Commands related to joint name and joint id.

◆ setRightFootForceSensorXYZ()

void dynamicgraph::sot::ParameterServer::setRightFootForceSensorXYZ ( const dynamicgraph::Vector )

◆ setRightFootSoleXYZ()

void dynamicgraph::sot::ParameterServer::setRightFootSoleXYZ ( const dynamicgraph::Vector )

Commands related to FootUtil.

◆ updateJointCtrlModesOutputSignal()

void dynamicgraph::sot::ParameterServer::updateJointCtrlModesOutputSignal ( )
protected

Member Data Documentation

◆ m_dt

double dynamicgraph::sot::ParameterServer::m_dt
protected

true if the entity has been successfully initialized

◆ m_emergency_stop_triggered

bool dynamicgraph::sot::ParameterServer::m_emergency_stop_triggered
protected

control loop time period

◆ m_initSucceeded

bool dynamicgraph::sot::ParameterServer::m_initSucceeded
protected

◆ m_is_first_iter

bool dynamicgraph::sot::ParameterServer::m_is_first_iter
protected

true if an emergency condition as been triggered either by an other entity, or by control limit violation

◆ m_iter

int dynamicgraph::sot::ParameterServer::m_iter
protected

true at the first iteration, false otherwise

◆ m_robot_util

RobotUtilShrPtr dynamicgraph::sot::ParameterServer::m_robot_util
protected

◆ m_sleep_time

double dynamicgraph::sot::ParameterServer::m_sleep_time
protected