#include <dynamic_graph_bridge/sot_loader.hh>
Public Member Functions | |
SotLoader () | |
~SotLoader () | |
void | initializeRosNode (int argc, char *argv[]) |
void | oneIteration () |
void | fillSensors (std::map< std::string, dgs::SensorValues > &sensorsIn) |
void | readControl (std::map< std::string, dgs::ControlValues > &controlValues) |
void | setup () |
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SotLoaderBasic () | |
~SotLoaderBasic () | |
int | parseOptions (int argc, char *argv[]) |
void | Initialization () |
Load the SoT device corresponding to the robot. More... | |
void | CleanUp () |
Unload the library which handles the robot device. More... | |
bool | start_dg (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response) |
bool | stop_dg (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response) |
int | readSotVectorStateParam () |
int | initPublication () |
bool | isDynamicGraphStopped () |
void | setDynamicLibraryName (std::string &afilename) |
Protected Member Functions | |
virtual void | startControlLoop () |
Protected Attributes | |
std::map< std::string, dgs::SensorValues > | sensorsIn_ |
Map of sensor readings. More... | |
std::map< std::string, dgs::ControlValues > | controlValues_ |
Map of control values. More... | |
std::vector< double > | angleEncoder_ |
Angular values read by encoders. More... | |
std::vector< double > | angleControl_ |
Angular values sent to motors. More... | |
std::vector< double > | forces_ |
Forces read by force sensors. More... | |
std::vector< double > | torques_ |
Torques. More... | |
std::vector< double > | baseAtt_ |
Attitude of the robot computed by extended Kalman filter. More... | |
std::vector< double > | accelerometer_ |
Accelerations read by Accelerometers. More... | |
std::vector< double > | gyrometer_ |
Angular velocity read by gyrometers. More... | |
std::string | robot_desc_string_ |
URDF string description of the robot. More... | |
boost::thread | thread_ |
The thread running dynamic graph. More... | |
tf2_ros::TransformBroadcaster | freeFlyerPublisher_ |
geometry_msgs::TransformStamped | freeFlyerPose_ |
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bool | dynamic_graph_stopped_ |
dgs::AbstractSotExternalInterface * | sotController_ |
the sot-hrp2 controller More... | |
po::variables_map | vm_ |
std::string | dynamicLibraryName_ |
void * | sotRobotControllerLibrary_ |
Handle on the SoT library. More... | |
XmlRpc::XmlRpcValue | stateVectorMap_ |
Map between SoT state vector and some joint_state_links. More... | |
parallel_joints_to_state_vector_t | parallel_joints_to_state_vector_ |
std::vector< double > | coefficient_parallel_joints_ |
Coefficient between parallel joints and the state vector. More... | |
ros::ServiceServer | service_start_ |
Advertises start_dynamic_graph services. More... | |
ros::ServiceServer | service_stop_ |
Advertises stop_dynamic_graph services. More... | |
ros::Publisher | joint_pub_ |
sensor_msgs::JointState | joint_state_ |
int | nbOfJoints_ |
parallel_joints_to_state_vector_t::size_type | nbOfParallelJoints_ |
Additional Inherited Members | |
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typedef std::vector< int > | parallel_joints_to_state_vector_t |
List of parallel joints from the state vector. More... | |
SotLoader::SotLoader | ( | ) |
SotLoader::~SotLoader | ( | ) |
void SotLoader::fillSensors | ( | std::map< std::string, dgs::SensorValues > & | sensorsIn | ) |
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virtual |
Reimplemented from SotLoaderBasic.
void SotLoader::oneIteration | ( | ) |
void SotLoader::readControl | ( | std::map< std::string, dgs::ControlValues > & | controlValues | ) |
void SotLoader::setup | ( | ) |
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protectedvirtual |
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Accelerations read by Accelerometers.
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Angular values sent to motors.
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Angular values read by encoders.
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Attitude of the robot computed by extended Kalman filter.
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Map of control values.
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Forces read by force sensors.
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Angular velocity read by gyrometers.
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URDF string description of the robot.
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Map of sensor readings.
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The thread running dynamic graph.
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Torques.