18 #ifndef _SOT_TalosDevice_H_
19 #define _SOT_TalosDevice_H_
21 #include <dynamic-graph/entity.h>
22 #include <dynamic-graph/signal.h>
23 #include <dynamic-graph/signal-ptr.h>
24 #include <dynamic-graph/linear-algebra.h>
25 #include <sot/core/device.hh>
26 #include <sot/core/abstract-sot-external-interface.hh>
27 #include <sot/core/matrix-geometry.hh>
42 void setSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
44 void setupSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
50 void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut);
78 void setSensorsForce(std::map<std::string, dgsot::SensorValues> &SensorsIn,
int t);
79 void setSensorsIMU(std::map<std::string, dgsot::SensorValues> &SensorsIn,
int t);
83 void setSensorsGains(std::map<std::string, dgsot::SensorValues> &SensorsIn,
int t);
92 dgsot::MatrixRotation
pose;
Definition: sot-talos-device.hh:32
dynamicgraph::Signal< dg::Vector, int > d_gainsSOUT_
Definition: sot-talos-device.hh:75
void setSensors(std::map< std::string, dgsot::SensorValues > &sensorsIn)
Definition: sot-talos-device.cpp:253
dg::Vector gyrometer_
Definition: sot-talos-device.hh:94
dgsot::MatrixRotation pose
Definition: sot-talos-device.hh:92
dg::Vector dgforces_
Intermediate variables to avoid allocation during control.
Definition: sot-talos-device.hh:86
void setSensorsForce(std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
Protected methods for internal variables filling.
Definition: sot-talos-device.cpp:115
static const std::string CLASS_NAME
Definition: sot-talos-device.hh:34
void timeStep(double ts)
Definition: sot-talos-device.hh:52
virtual ~SoTTalosDevice()
Definition: sot-talos-device.cpp:113
dg::Vector dgRobotVelocity_
Definition: sot-talos-device.hh:90
void setSensorsIMU(std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
Definition: sot-talos-device.cpp:137
dg::Vector dgRobotState_
Definition: sot-talos-device.hh:87
void setSensorsEncoders(std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
Definition: sot-talos-device.cpp:166
dynamicgraph::Signal< dg::Vector, int > currentsSOUT_
motor currents
Definition: sot-talos-device.hh:66
void cleanupSetSensors(std::map< std::string, dgsot::SensorValues > &sensorsIn)
Definition: sot-talos-device.cpp:272
virtual const std::string & getClassName() const
Definition: sot-talos-device.hh:37
dg::Vector d_gains_
Definition: sot-talos-device.hh:98
dg::Vector previousState_
Previous robot configuration.
Definition: sot-talos-device.hh:56
dynamicgraph::Signal< dg::Vector, int > motor_anglesSOUT_
motor angles
Definition: sot-talos-device.hh:70
void setSensorsVelocities(std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
Definition: sot-talos-device.cpp:195
void setSensorsTorquesCurrents(std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
Definition: sot-talos-device.cpp:211
SoTTalosDevice(std::string RobotName)
Definition: sot-talos-device.cpp:67
dg::Vector velocities_
Definition: sot-talos-device.hh:91
dynamicgraph::Signal< dg::Vector, int > gyrometerSOUT_
Rotation velocity measured by gyrometers.
Definition: sot-talos-device.hh:64
void nominalSetSensors(std::map< std::string, dgsot::SensorValues > &sensorsIn)
Definition: sot-talos-device.cpp:270
dg::Vector p_gains_
Definition: sot-talos-device.hh:97
dg::Vector torques_
Definition: sot-talos-device.hh:95
dynamicgraph::Signal< dg::Vector, int > accelerometerSOUT_
Accelerations measured by accelerometers.
Definition: sot-talos-device.hh:62
dg::Vector accelerometer_
Definition: sot-talos-device.hh:93
void setSensorsGains(std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
Definition: sot-talos-device.cpp:232
dg::Vector motor_angles_
Definition: sot-talos-device.hh:89
dg::Vector joint_angles_
Definition: sot-talos-device.hh:88
void getControl(std::map< std::string, dgsot::ControlValues > &anglesOut)
Definition: sot-talos-device.cpp:274
dynamicgraph::Signal< dg::Vector, int > joint_anglesSOUT_
joint angles
Definition: sot-talos-device.hh:68
std::vector< double > baseff_
Intermediate variables to avoid allocation during control.
Definition: sot-talos-device.hh:59
dynamicgraph::Signal< dg::Vector, int > p_gainsSOUT_
proportional and derivative position-control gains
Definition: sot-talos-device.hh:73
static const double TIMESTEP_DEFAULT
Definition: sot-talos-device.hh:35
dg::Vector currents_
Definition: sot-talos-device.hh:96
void setupSetSensors(std::map< std::string, dgsot::SensorValues > &sensorsIn)
Definition: sot-talos-device.cpp:268
Definition: sot-talos-device.cpp:333
Definition: sot-talos-device.cpp:332