17 #ifndef __sot_torque_control_parameter_server_H__ 18 #define __sot_torque_control_parameter_server_H__ 25 #if defined(__sot_torque_parameter_server_H__) 26 #define SOTParameterServer_EXPORT __declspec(dllexport) 28 #define SOTParameterServer_EXPORT __declspec(dllimport) 31 #define SOTParameterServer_EXPORT 38 #include "boost/assign.hpp" 39 #include <dynamic-graph/signal-helper.h> 52 #define CTRL_MODE_TRANSITION_TIME_STEP 1000.0 55 :
public ::dynamicgraph::Entity {
57 DYNAMIC_GRAPH_ENTITY_DECL();
66 void init(
const double &dt,
const std::string &urdfFile,
67 const std::string &robotRef);
74 void setNameToId(
const std::string &jointName,
const double &jointId);
75 void setJointLimitsFromId(
const double &jointId,
const double &lq,
79 void setForceLimitsFromId(
const double &jointId,
80 const dynamicgraph::Vector &lq,
81 const dynamicgraph::Vector &uq);
82 void setForceNameToForceId(
const std::string &forceName,
83 const double &forceId);
87 void setRightFootSoleXYZ(
const dynamicgraph::Vector &);
88 void setRightFootForceSensorXYZ(
const dynamicgraph::Vector &);
89 void setFootFrameName(
const std::string &,
const std::string &);
90 void setImuJointName(
const std::string &);
91 void displayRobotUtil();
95 void setParameter(
const std::string &ParameterName,
96 const std::string &ParameterValue);
97 std::string getParameter(
const std::string &ParameterName);
100 void setJoints(
const dynamicgraph::Vector &);
103 virtual void display(std::ostream &os)
const;
110 bool m_is_first_iter;
117 bool convertJointNameToJointId(
const std::string &name,
unsigned int &
id);
118 bool isJointInRange(
unsigned int id,
double q);
119 void updateJointCtrlModesOutputSignal();
126 #endif // #ifndef __sot_torque_control_control_manager_H__ int m_iter
true at the first iteration, false otherwise
Definition: parameter-server.hh:113
bool m_emergency_stop_triggered
control loop time period
Definition: parameter-server.hh:109
double m_dt
true if the entity has been successfully initialized
Definition: parameter-server.hh:108
boost::shared_ptr< RobotUtil > RobotUtilShrPtr
Accessors - This should be changed to RobotUtilPtrShared.
Definition: robot-utils.hh:243
double m_sleep_time
Definition: parameter-server.hh:114
#define SOTParameterServer_EXPORT
Definition: parameter-server.hh:31
Definition: parameter-server.hh:54
RobotUtilShrPtr m_robot_util
Definition: parameter-server.hh:106
Definition: abstract-sot-external-interface.hh:17
bool m_initSucceeded
Definition: parameter-server.hh:107