#include <sot-talos-device.hh>
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virtual const std::string & | getClassName () const |
SoTTalosDevice (std::string RobotName) | |
virtual | ~SoTTalosDevice () |
void | setSensors (std::map< std::string, dgsot::SensorValues > &sensorsIn) |
void | setupSetSensors (std::map< std::string, dgsot::SensorValues > &sensorsIn) |
void | nominalSetSensors (std::map< std::string, dgsot::SensorValues > &sensorsIn) |
void | cleanupSetSensors (std::map< std::string, dgsot::SensorValues > &sensorsIn) |
void | getControl (std::map< std::string, dgsot::ControlValues > &anglesOut) |
void | timeStep (double ts) |
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Device (const std::string &name) | |
virtual | ~Device () |
virtual void | setStateSize (const unsigned int &size) |
virtual void | setState (const dg::Vector &st) |
void | setVelocitySize (const unsigned int &size) |
virtual void | setVelocity (const dg::Vector &vel) |
virtual void | setSecondOrderIntegration () |
virtual void | setNoIntegration () |
virtual void | setControlInputType (const std::string &cit) |
virtual void | increment (const double &dt=5e-2) |
virtual void | display (std::ostream &os) const |
virtual void | cmdDisplay () |
virtual void | setRoot (const dg::Matrix &root) |
virtual void | setRoot (const MatrixHomogeneous &worldMwaist) |
void | setSanityCheck (const bool &enableCheck) |
void | setPositionBounds (const Vector &lower, const Vector &upper) |
void | setVelocityBounds (const Vector &lower, const Vector &upper) |
void | setTorqueBounds (const Vector &lower, const Vector &upper) |
void | setSanityCheck (const bool &enableCheck) |
void | setPositionBounds (const Vector &lower, const Vector &upper) |
void | setVelocityBounds (const Vector &lower, const Vector &upper) |
void | setTorqueBounds (const Vector &lower, const Vector &upper) |
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Entity (const std::string &name) | |
virtual | ~Entity () |
const std::string & | getName () 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::Command * | getNewStyleCommand (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 () |
Static Public Attributes | |
static const std::string | CLASS_NAME |
static const double | TIMESTEP_DEFAULT = 0.001 |
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static const std::string | CLASS_NAME |
Protected Member Functions | |
void | setSensorsForce (std::map< std::string, dgsot::SensorValues > &SensorsIn, int t) |
Protected methods for internal variables filling. More... | |
void | setSensorsIMU (std::map< std::string, dgsot::SensorValues > &SensorsIn, int t) |
void | setSensorsEncoders (std::map< std::string, dgsot::SensorValues > &SensorsIn, int t) |
void | setSensorsVelocities (std::map< std::string, dgsot::SensorValues > &SensorsIn, int t) |
void | setSensorsTorquesCurrents (std::map< std::string, dgsot::SensorValues > &SensorsIn, int t) |
void | setSensorsGains (std::map< std::string, dgsot::SensorValues > &SensorsIn, int t) |
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void | integrateRollPitchYaw (dg::Vector &state, const dg::Vector &control, double dt) |
virtual void | integrate (const double &dt) |
const MatrixHomogeneous & | freeFlyerPose () const |
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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) |
SoTTalosDevice::SoTTalosDevice | ( | std::string | RobotName | ) |
References accelerometerSOUT_, dynamicgraph::Entity::addCommand(), baseff_, currentsSOUT_, d_gainsSOUT_, dynamicgraph::sot::Device::forcesSOUT, gyrometerSOUT_, joint_anglesSOUT_, makeCommandVoid1(), motor_anglesSOUT_, p_gainsSOUT_, RESETDEBUG5, dynamicgraph::Signal< T, Time >::setConstant(), dynamicgraph::Entity::signalRegistration(), sotDEBUGIN, sotDEBUGOUT, dynamicgraph::sot::Device::timestep_, TIMESTEP_DEFAULT, and dynamicgraph::sot::Device::withForceSignals.
Referenced by getClassName().
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Referenced by getClassName().
void SoTTalosDevice::cleanupSetSensors | ( | std::map< std::string, dgsot::SensorValues > & | sensorsIn | ) |
References setSensors().
Referenced by SoTTalosController::cleanupSetSensors(), and getClassName().
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Reimplemented from dynamicgraph::sot::Device.
References CLASS_NAME, cleanupSetSensors(), getControl(), nominalSetSensors(), setSensors(), setupSetSensors(), SoTTalosDevice(), and ~SoTTalosDevice().
void SoTTalosDevice::getControl | ( | std::map< std::string, dgsot::ControlValues > & | anglesOut | ) |
References baseff_, dynamicgraph::sot::Device::controlSIN, dynamicgraph::sot::debugfile, dynamicgraph::sot::Device::freeFlyerPose(), dynamicgraph::SignalPtr< class, class >::getTime(), dynamicgraph::sot::Device::increment(), ODEBUG5FULL, previousState_, dynamicgraph::Signal< T, Time >::recompute(), sotDEBUG, sotDEBUGIN, sotDEBUGOUT, dynamicgraph::sot::Device::state_, dynamicgraph::sot::Device::timestep_, and dynamicgraph::sot::Device::zmpSIN.
Referenced by getClassName(), and SoTTalosController::getControl().
void SoTTalosDevice::nominalSetSensors | ( | std::map< std::string, dgsot::SensorValues > & | sensorsIn | ) |
References setSensors().
Referenced by getClassName(), and SoTTalosController::nominalSetSensors().
void SoTTalosDevice::setSensors | ( | std::map< std::string, dgsot::SensorValues > & | sensorsIn | ) |
References dynamicgraph::SignalBase< Time >::getTime(), setSensorsEncoders(), setSensorsForce(), setSensorsGains(), setSensorsIMU(), setSensorsTorquesCurrents(), setSensorsVelocities(), sotDEBUGIN, sotDEBUGOUT, and dynamicgraph::sot::Device::stateSOUT.
Referenced by cleanupSetSensors(), getClassName(), nominalSetSensors(), and setupSetSensors().
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Protected methods for internal variables filling.
References dgforces_, dynamicgraph::sot::Device::forcesSOUT, dynamicgraph::Signal< T, Time >::setConstant(), dynamicgraph::SignalBase< Time >::setTime(), sotDEBUG, and sotDEBUGIN.
Referenced by setSensors().
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References d_gains_, d_gainsSOUT_, p_gains_, p_gainsSOUT_, dynamicgraph::Signal< T, Time >::setConstant(), and dynamicgraph::SignalBase< Time >::setTime().
Referenced by setSensors().
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void SoTTalosDevice::setupSetSensors | ( | std::map< std::string, dgsot::SensorValues > & | sensorsIn | ) |
References setSensors().
Referenced by getClassName(), and SoTTalosController::setupSetSensors().
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References dynamicgraph::sot::Device::timestep_.
Referenced by SoTTalosController::init().
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Referenced by setSensorsIMU().
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Accelerations measured by accelerometers.
Referenced by setSensorsIMU(), and SoTTalosDevice().
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Intermediate variables to avoid allocation during control.
Referenced by getControl(), and SoTTalosDevice().
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Referenced by getClassName().
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Referenced by setSensorsTorquesCurrents().
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motor currents
Referenced by setSensorsTorquesCurrents(), and SoTTalosDevice().
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Referenced by setSensorsGains().
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Referenced by setSensorsGains(), and SoTTalosDevice().
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Intermediate variables to avoid allocation during control.
Referenced by setSensorsForce().
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Referenced by setSensorsEncoders().
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Referenced by setSensorsVelocities().
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Referenced by setSensorsIMU().
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Rotation velocity measured by gyrometers.
Referenced by setSensorsIMU(), and SoTTalosDevice().
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Referenced by setSensorsEncoders().
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joint angles
Referenced by setSensorsEncoders(), and SoTTalosDevice().
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Referenced by setSensorsEncoders().
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motor angles
Referenced by setSensorsEncoders(), and SoTTalosDevice().
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Referenced by setSensorsGains().
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proportional and derivative position-control gains
Referenced by setSensorsGains(), and SoTTalosDevice().
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Referenced by setSensorsIMU().
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Previous robot configuration.
Referenced by getControl().
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Referenced by SoTTalosController::init(), and SoTTalosDevice().
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Referenced by setSensorsTorquesCurrents().
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