#include <robot-dyn-simu.h>
Public Types | |
typedef ::dynamicgraph::EntityHelper< RobotDynSimu >::EntityClassName | EntityClassName |
typedef ::dynamicgraph::EntityHelper< RobotDynSimu >::EntityClassName | EntityClassName |
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enum | ForceSignalSource |
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typedef std::map< std::string, SignalBase< int > *> | SignalMap |
typedef std::map< const std::string, command::Command *> | CommandMap_t |
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typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
Public Member Functions | |
RobotDynSimu (const std::string &name) | |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (acceleration, dg::Vector) | |
DECLARE_SIGNAL_OUT (velocity, dg::Vector) | |
void | setVelocity (const dg::Vector &v) |
RobotDynSimu (const std::string &name) | |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (acceleration, dg::Vector) | |
DECLARE_SIGNAL_OUT (velocity, dg::Vector) | |
void | setVelocity (const dg::Vector &v) |
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virtual const std::string & | getClassName (void) const |
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 | setSecondOrderIntegration () |
virtual void | setNoIntegration () |
virtual void | setControlInputType (const std::string &cit) |
virtual void | increment (const double &dt=5e-2) |
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 () |
Protected Member Functions | |
virtual void | integrate (const double &dt) |
virtual void | integrate (const double &dt) |
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void | integrateRollPitchYaw (dg::Vector &state, const dg::Vector &control, 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) |
typedef ::dynamicgraph::EntityHelper<RobotDynSimu>::EntityClassName dynamicgraph::sot::dyninv::RobotDynSimu::EntityClassName |
typedef ::dynamicgraph::EntityHelper<RobotDynSimu>::EntityClassName dynamicgraph::sot::dyninv::RobotDynSimu::EntityClassName |
dynamicgraph::sot::dyninv::RobotDynSimu::RobotDynSimu | ( | const std::string & | name | ) |
dynamicgraph::sot::dyninv::RobotDynSimu::RobotDynSimu | ( | const std::string & | name | ) |
dynamicgraph::sot::dyninv::RobotDynSimu::DECLARE_SIGNAL_IN | ( | acceleration | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::RobotDynSimu::DECLARE_SIGNAL_IN | ( | acceleration | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::RobotDynSimu::DECLARE_SIGNAL_OUT | ( | velocity | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::RobotDynSimu::DECLARE_SIGNAL_OUT | ( | velocity | , |
dg::Vector | |||
) |
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virtual |
Reimplemented from dynamicgraph::sot::Device.
References integrate(), and dynamicgraph::sot::Device::state_.
Referenced by RobotDynSimu().
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virtual |
Reimplemented from dynamicgraph::sot::Device.
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protectedvirtual |
Reimplemented from dynamicgraph::sot::Device.
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protectedvirtual |
Reimplemented from dynamicgraph::sot::Device.
References dynamicgraph::sot::Device::controlSIN, dynamicgraph::SignalPtr< class, class >::getTime(), dynamicgraph::sot::Device::integrateRollPitchYaw(), dynamicgraph::SignalBase< Time >::setReady(), setVelocity(), dynamicgraph::sot::Device::state_, and dynamicgraph::sot::Device::velocitySOUT.
Referenced by display().
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virtual |
Reimplemented from dynamicgraph::sot::Device.
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virtual |
Reimplemented from dynamicgraph::sot::Device.
References dynamicgraph::SignalBase< Time >::setReady(), and dynamicgraph::sot::Device::velocitySOUT.
Referenced by integrate().