12 #ifndef _SOT_LOADER_BASIC_HH_ 13 #define _SOT_LOADER_BASIC_HH_ 22 #include <pinocchio/fwd.hpp> 25 #include <boost/foreach.hpp> 26 #include <boost/format.hpp> 27 #include <boost/program_options.hpp> 30 #include <sensor_msgs/JointState.h> 33 #include "std_srvs/Empty.h" 36 #include <sot/core/abstract-sot-external-interface.hh> 37 #include <sot/core/debug.hh> 39 namespace po = boost::program_options;
40 namespace dgs = dynamicgraph::sot;
50 po::variables_map
vm_;
98 bool start_dg(std_srvs::Empty::Request& request,
99 std_srvs::Empty::Response& response);
102 bool stop_dg(std_srvs::Empty::Request& request,
103 std_srvs::Empty::Response& response);
parallel_joints_to_state_vector_t::size_type nbOfParallelJoints_
Definition: sot_loader_basic.hh:79
void setDynamicLibraryName(std::string &afilename)
bool isDynamicGraphStopped()
Definition: sot_loader_basic.hh:112
ros::Publisher joint_pub_
Definition: sot_loader_basic.hh:72
XmlRpc::XmlRpcValue stateVectorMap_
Map between SoT state vector and some joint_state_links.
Definition: sot_loader_basic.hh:57
int readSotVectorStateParam()
ros::ServiceServer service_start_
Advertises start_dynamic_graph services.
Definition: sot_loader_basic.hh:66
bool dynamic_graph_stopped_
Definition: sot_loader_basic.hh:45
void * sotRobotControllerLibrary_
Handle on the SoT library.
Definition: sot_loader_basic.hh:54
Definition: sot_loader_basic.hh:42
bool start_dg(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
int nbOfJoints_
Definition: sot_loader_basic.hh:78
std::vector< double > coefficient_parallel_joints_
Coefficient between parallel joints and the state vector.
Definition: sot_loader_basic.hh:64
bool stop_dg(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
void Initialization()
Load the SoT device corresponding to the robot.
void CleanUp()
Unload the library which handles the robot device.
virtual void initializeRosNode(int argc, char *argv[])
std::vector< int > parallel_joints_to_state_vector_t
List of parallel joints from the state vector.
Definition: sot_loader_basic.hh:60
sensor_msgs::JointState joint_state_
Definition: sot_loader_basic.hh:75
~SotLoaderBasic()
Definition: sot_loader_basic.hh:83
po::variables_map vm_
Definition: sot_loader_basic.hh:50
dgs::AbstractSotExternalInterface * sotController_
the sot-hrp2 controller
Definition: sot_loader_basic.hh:48
parallel_joints_to_state_vector_t parallel_joints_to_state_vector_
Definition: sot_loader_basic.hh:61
ros::ServiceServer service_stop_
Advertises stop_dynamic_graph services.
Definition: sot_loader_basic.hh:69
std::string dynamicLibraryName_
Definition: sot_loader_basic.hh:51
int parseOptions(int argc, char *argv[])