8 #ifndef __sot_torque_control_common_H__ 9 #define __sot_torque_control_common_H__ 14 #include "boost/assign.hpp" 15 #include <dynamic-graph/linear-algebra.h> 16 #include <dynamic-graph/logger.h> 17 #include <dynamic-graph/signal-helper.h> 21 namespace dg = ::dynamicgraph;
42 ForceLimits() : upper(Vector6d::Zero()), lower(Vector6d::Zero()) {}
44 ForceLimits(
const Eigen::VectorXd &l,
const Eigen::VectorXd &u)
45 : upper(u), lower(l) {}
47 void display(std::ostream &os)
const;
56 m_Force_Id_Right_Foot;
58 void set_name_to_force_id(
const std::string &name,
const Index &force_id);
60 void set_force_id_to_limits(
const Index &force_id,
const dg::Vector &lf,
61 const dg::Vector &uf);
63 void create_force_id_to_name_map();
65 Index get_id_from_name(
const std::string &name);
67 const std::string &get_name_from_id(Index idx);
68 std::string cp_get_name_from_id(Index idx);
70 const ForceLimits &get_limits_from_id(Index force_id);
89 void display(std::ostream &out)
const;
102 void display(std::ostream &os)
const;
108 void display(std::ostream &os)
const;
145 void create_id_to_name_map();
156 const Index &get_id_from_name(
const std::string &name);
164 const std::string &get_name_from_id(Index
id);
168 void set_name_to_id(
const std::string &jointName,
const Index &jointId);
171 void set_urdf_to_sot(
const std::vector<Index> &urdf_to_sot);
172 void set_urdf_to_sot(
const dg::Vector &urdf_to_sot);
175 void set_joint_limits_for_id(
const Index &idx,
const double &lq,
199 const JointLimits &get_joint_limits_from_id(Index
id);
204 void sendMsg(
const std::string &msg, MsgType t = MSG_TYPE_INFO,
207 const std::string &lineId =
"");
215 void display(std::ostream &os)
const;
222 void set_parameter(
const std::string ¶meter_name,
223 const std::string ¶meter_value);
231 const std::string &get_parameter(
const std::string ¶meter_name);
255 #endif // sot_torque_control_common_h_ JointLimits(double l, double u)
Definition: robot-utils.hh:33
Definition: robot-utils.hh:50
std::map< Index, JointLimits > m_limits_map
The joint limits map.
Definition: robot-utils.hh:137
const Eigen::Ref< const Eigen::VectorXd > & ConstRefVector
Definition: matrix-geometry.hh:69
Index m_Force_Id_Right_Hand
Definition: robot-utils.hh:55
Definition: robot-utils.hh:111
ForceUtil m_force_util
Forces data.
Definition: robot-utils.hh:116
void set_force_id_right_hand(Index anId)
Definition: robot-utils.hh:79
bool base_se3_to_sot(ConstRefVector pos, ConstRefMatrix R, RefVector q_sot)
Eigen::VectorXd::Index Index
Definition: robot-utils.hh:36
Definition: robot-utils.hh:105
RobotUtilShrPtr createRobotUtil(std::string &robotName)
double lower
Definition: robot-utils.hh:29
std::string m_Left_Hand_Frame_Name
Definition: robot-utils.hh:106
boost::shared_ptr< RobotUtil > RobotUtilShrPtr
Accessors - This should be changed to RobotUtilPtrShared.
Definition: robot-utils.hh:243
Eigen::VectorXd upper
Definition: robot-utils.hh:39
void set_force_id_right_foot(Index anId)
Definition: robot-utils.hh:87
std::map< std::string, Index > m_name_to_force_id
Definition: robot-utils.hh:52
dynamicgraph::Vector m_dgv_urdf_to_sot
Definition: robot-utils.hh:150
Index get_force_id_right_foot()
Definition: robot-utils.hh:85
#define SOT_CORE_EXPORT
Definition: api.hh:20
void set_force_id_left_foot(Index anId)
Definition: robot-utils.hh:83
JointLimits()
Definition: robot-utils.hh:31
ForceLimits()
Definition: robot-utils.hh:42
void setLoggerVerbosityLevel(LoggerVerbosity lv)
Specify the verbosity level of the logger.
Definition: robot-utils.hh:210
const Eigen::Ref< const Eigen::MatrixXd > ConstRefMatrix
Definition: matrix-geometry.hh:71
std::string m_imu_joint_name
The name of the joint IMU is attached to.
Definition: robot-utils.hh:140
std::map< Index, ForceLimits > m_force_id_to_limits
Definition: robot-utils.hh:51
Eigen::VectorXd lower
Definition: robot-utils.hh:40
Definition: robot-utils.hh:38
ForceLimits(const Eigen::VectorXd &l, const Eigen::VectorXd &u)
Definition: robot-utils.hh:44
double upper
Definition: robot-utils.hh:28
std::size_t m_nbJoints
Nb of Dofs for the robot.
Definition: robot-utils.hh:128
void set_force_id_left_hand(Index anId)
Definition: robot-utils.hh:75
RobotUtilShrPtr RefVoidRobotUtil()
LoggerVerbosity getLoggerVerbosityLevel()
Get the logger's verbosity level.
Definition: robot-utils.hh:213
Index get_force_id_right_hand()
Definition: robot-utils.hh:77
std::vector< Index > m_urdf_to_sot
Map from the urdf index to the SoT index.
Definition: robot-utils.hh:125
std::string m_Right_Hand_Frame_Name
Definition: robot-utils.hh:107
RobotUtilShrPtr getRobotUtil(std::string &robotName)
FootUtil m_foot_util
Foot information.
Definition: robot-utils.hh:119
Index get_force_id_left_hand()
Definition: robot-utils.hh:73
std::map< std::string, std::string > parameters_strings_
Map of the parameters: map of strings.
Definition: robot-utils.hh:238
std::map< std::string, Index > m_name_to_id
Map from the name to the id.
Definition: robot-utils.hh:131
HandUtil m_hand_util
Hand information.
Definition: robot-utils.hh:122
Eigen::Ref< Eigen::VectorXd > RefVector
Definition: matrix-geometry.hh:68
Logger logger_
Definition: robot-utils.hh:235
std::map< Index, std::string > m_force_id_to_name
Definition: robot-utils.hh:53
Index get_force_id_left_foot()
Definition: robot-utils.hh:81
Definition: robot-utils.hh:27
bool isNameInRobotUtil(std::string &robotName)
std::map< Index, std::string > m_id_to_name
The map between id and name.
Definition: robot-utils.hh:134
Definition: abstract-sot-external-interface.hh:17
std::string m_urdf_filename
URDF file path.
Definition: robot-utils.hh:148