#include <sot-talos-device.hh>
Public Member Functions | |
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) |
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 |
Protected Attributes | |
dg::Vector | previousState_ |
Previous robot configuration. More... | |
std::vector< double > | baseff_ |
Intermediate variables to avoid allocation during control. More... | |
dynamicgraph::Signal< dg::Vector, int > | accelerometerSOUT_ |
Accelerations measured by accelerometers. More... | |
dynamicgraph::Signal< dg::Vector, int > | gyrometerSOUT_ |
Rotation velocity measured by gyrometers. More... | |
dynamicgraph::Signal< dg::Vector, int > | currentsSOUT_ |
motor currents More... | |
dynamicgraph::Signal< dg::Vector, int > | joint_anglesSOUT_ |
joint angles More... | |
dynamicgraph::Signal< dg::Vector, int > | motor_anglesSOUT_ |
motor angles More... | |
dynamicgraph::Signal< dg::Vector, int > | p_gainsSOUT_ |
proportional and derivative position-control gains More... | |
dynamicgraph::Signal< dg::Vector, int > | d_gainsSOUT_ |
dg::Vector | dgforces_ |
Intermediate variables to avoid allocation during control. More... | |
dg::Vector | dgRobotState_ |
dg::Vector | joint_angles_ |
dg::Vector | motor_angles_ |
dg::Vector | dgRobotVelocity_ |
dg::Vector | velocities_ |
dgsot::MatrixRotation | pose |
dg::Vector | accelerometer_ |
dg::Vector | gyrometer_ |
dg::Vector | torques_ |
dg::Vector | currents_ |
dg::Vector | p_gains_ |
dg::Vector | d_gains_ |
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dg::Vector | state_ |
dg::Vector | velocity_ |
bool | sanityCheck_ |
dg::Vector | vel_control_ |
ControlInput | controlInputType_ |
bool | withForceSignals [4] |
PeriodicCall | periodicCallBefore_ |
PeriodicCall | periodicCallAfter_ |
double | timestep_ |
MatrixHomogeneous | ffPose_ |
Vector | upperPosition_ |
Vector | upperVelocity_ |
Vector | upperTorque_ |
Vector | lowerPosition_ |
Vector | lowerVelocity_ |
Vector | lowerTorque_ |
Additional Inherited Members | |
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enum | ForceSignalSource |
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FORCE_SIGNAL_RLEG | |
FORCE_SIGNAL_LLEG | |
FORCE_SIGNAL_RARM | |
FORCE_SIGNAL_LARM | |
dynamicgraph::SignalPtr< dg::Vector, int > | controlSIN |
dynamicgraph::SignalPtr< dg::Vector, int > | attitudeSIN |
dynamicgraph::SignalPtr< dg::Vector, int > | zmpSIN |
dynamicgraph::Signal< dg::Vector, int > | stateSOUT |
dynamicgraph::Signal< dg::Vector, int > | velocitySOUT |
dynamicgraph::Signal< MatrixRotation, int > | attitudeSOUT |
dynamicgraph::Signal< dg::Vector, int > | motorcontrolSOUT |
dynamicgraph::Signal< dg::Vector, int > | previousControlSOUT |
dynamicgraph::Signal< dg::Vector, int > | ZMPPreviousControllerSOUT |
dynamicgraph::Signal< dg::Vector, int > | robotState_ |
dynamicgraph::Signal< dg::Vector, int > | robotVelocity_ |
dynamicgraph::Signal< dg::Vector, int > * | forcesSOUT [4] |
dynamicgraph::Signal< dg::Vector, int > | pseudoTorqueSOUT |
SoTTalosDevice::SoTTalosDevice | ( | std::string | RobotName | ) |
References accelerometerSOUT_, baseff_, currentsSOUT_, d_gainsSOUT_, dynamicgraph::sot::Device::forcesSOUT, gyrometerSOUT_, joint_anglesSOUT_, motor_anglesSOUT_, p_gainsSOUT_, RESETDEBUG5, 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::sot::Device::increment(), ODEBUG5FULL, previousState_, 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 setSensorsEncoders(), setSensorsForce(), setSensorsGains(), setSensorsIMU(), setSensorsTorquesCurrents(), setSensorsVelocities(), sotDEBUGIN, sotDEBUGOUT, and dynamicgraph::sot::Device::stateSOUT.
Referenced by cleanupSetSensors(), getClassName(), nominalSetSensors(), and setupSetSensors().
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References dgRobotState_, joint_angles_, joint_anglesSOUT_, motor_angles_, motor_anglesSOUT_, and dynamicgraph::sot::Device::robotState_.
Referenced by setSensors().
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Protected methods for internal variables filling.
References dgforces_, dynamicgraph::sot::Device::forcesSOUT, sotDEBUG, and sotDEBUGIN.
Referenced by setSensors().
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References d_gains_, d_gainsSOUT_, p_gains_, and p_gainsSOUT_.
Referenced by setSensors().
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References accelerometer_, accelerometerSOUT_, dynamicgraph::sot::Device::attitudeSOUT, gyrometer_, gyrometerSOUT_, and pose.
Referenced by setSensors().
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References currents_, currentsSOUT_, dynamicgraph::sot::Device::pseudoTorqueSOUT, and torques_.
Referenced by setSensors().
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References dgRobotVelocity_, and dynamicgraph::sot::Device::robotVelocity_.
Referenced by setSensors().
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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