SoTTalosDevice Class Reference

#include <sot-talos-device.hh>

Inheritance diagram for SoTTalosDevice:
[legend]
Collaboration diagram for SoTTalosDevice:
[legend]

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)
 
- Public Member Functions inherited from dynamicgraph::sot::Device
 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
 
- Static Public Attributes inherited from dynamicgraph::sot::Device
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)
 
- Protected Member Functions inherited from dynamicgraph::sot::Device
void integrateRollPitchYaw (dg::Vector &state, const dg::Vector &control, double dt)
 
virtual void integrate (const double &dt)
 
const MatrixHomogeneousfreeFlyerPose () 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_
 
- Protected Attributes inherited from dynamicgraph::sot::Device
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

- Public Types inherited from dynamicgraph::sot::Device
enum  ForceSignalSource
 
- Public Attributes inherited from dynamicgraph::sot::Device
 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
 

Constructor & Destructor Documentation

◆ SoTTalosDevice()

◆ ~SoTTalosDevice()

SoTTalosDevice::~SoTTalosDevice ( )
virtual

Referenced by getClassName().

Member Function Documentation

◆ cleanupSetSensors()

void SoTTalosDevice::cleanupSetSensors ( std::map< std::string, dgsot::SensorValues > &  sensorsIn)

◆ getClassName()

virtual const std::string& SoTTalosDevice::getClassName ( void  ) const
inlinevirtual

◆ getControl()

◆ nominalSetSensors()

void SoTTalosDevice::nominalSetSensors ( std::map< std::string, dgsot::SensorValues > &  sensorsIn)

◆ setSensors()

◆ setSensorsEncoders()

void SoTTalosDevice::setSensorsEncoders ( std::map< std::string, dgsot::SensorValues > &  SensorsIn,
int  t 
)
protected

◆ setSensorsForce()

void SoTTalosDevice::setSensorsForce ( std::map< std::string, dgsot::SensorValues > &  SensorsIn,
int  t 
)
protected

Protected methods for internal variables filling.

References dgforces_, dynamicgraph::sot::Device::forcesSOUT, sotDEBUG, and sotDEBUGIN.

Referenced by setSensors().

◆ setSensorsGains()

void SoTTalosDevice::setSensorsGains ( std::map< std::string, dgsot::SensorValues > &  SensorsIn,
int  t 
)
protected

References d_gains_, d_gainsSOUT_, p_gains_, and p_gainsSOUT_.

Referenced by setSensors().

◆ setSensorsIMU()

void SoTTalosDevice::setSensorsIMU ( std::map< std::string, dgsot::SensorValues > &  SensorsIn,
int  t 
)
protected

◆ setSensorsTorquesCurrents()

void SoTTalosDevice::setSensorsTorquesCurrents ( std::map< std::string, dgsot::SensorValues > &  SensorsIn,
int  t 
)
protected

◆ setSensorsVelocities()

void SoTTalosDevice::setSensorsVelocities ( std::map< std::string, dgsot::SensorValues > &  SensorsIn,
int  t 
)
protected

◆ setupSetSensors()

void SoTTalosDevice::setupSetSensors ( std::map< std::string, dgsot::SensorValues > &  sensorsIn)

◆ timeStep()

void SoTTalosDevice::timeStep ( double  ts)
inline

Member Data Documentation

◆ accelerometer_

dg::Vector SoTTalosDevice::accelerometer_
protected

Referenced by setSensorsIMU().

◆ accelerometerSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::accelerometerSOUT_
protected

Accelerations measured by accelerometers.

Referenced by setSensorsIMU(), and SoTTalosDevice().

◆ baseff_

std::vector<double> SoTTalosDevice::baseff_
protected

Intermediate variables to avoid allocation during control.

Referenced by getControl(), and SoTTalosDevice().

◆ CLASS_NAME

const std::string SoTTalosDevice::CLASS_NAME
static

Referenced by getClassName().

◆ currents_

dg::Vector SoTTalosDevice::currents_
protected

◆ currentsSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::currentsSOUT_
protected

motor currents

Referenced by setSensorsTorquesCurrents(), and SoTTalosDevice().

◆ d_gains_

dg::Vector SoTTalosDevice::d_gains_
protected

Referenced by setSensorsGains().

◆ d_gainsSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::d_gainsSOUT_
protected

Referenced by setSensorsGains(), and SoTTalosDevice().

◆ dgforces_

dg::Vector SoTTalosDevice::dgforces_
protected

Intermediate variables to avoid allocation during control.

Referenced by setSensorsForce().

◆ dgRobotState_

dg::Vector SoTTalosDevice::dgRobotState_
protected

Referenced by setSensorsEncoders().

◆ dgRobotVelocity_

dg::Vector SoTTalosDevice::dgRobotVelocity_
protected

Referenced by setSensorsVelocities().

◆ gyrometer_

dg::Vector SoTTalosDevice::gyrometer_
protected

Referenced by setSensorsIMU().

◆ gyrometerSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::gyrometerSOUT_
protected

Rotation velocity measured by gyrometers.

Referenced by setSensorsIMU(), and SoTTalosDevice().

◆ joint_angles_

dg::Vector SoTTalosDevice::joint_angles_
protected

Referenced by setSensorsEncoders().

◆ joint_anglesSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::joint_anglesSOUT_
protected

joint angles

Referenced by setSensorsEncoders(), and SoTTalosDevice().

◆ motor_angles_

dg::Vector SoTTalosDevice::motor_angles_
protected

Referenced by setSensorsEncoders().

◆ motor_anglesSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::motor_anglesSOUT_
protected

motor angles

Referenced by setSensorsEncoders(), and SoTTalosDevice().

◆ p_gains_

dg::Vector SoTTalosDevice::p_gains_
protected

Referenced by setSensorsGains().

◆ p_gainsSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::p_gainsSOUT_
protected

proportional and derivative position-control gains

Referenced by setSensorsGains(), and SoTTalosDevice().

◆ pose

dgsot::MatrixRotation SoTTalosDevice::pose
protected

Referenced by setSensorsIMU().

◆ previousState_

dg::Vector SoTTalosDevice::previousState_
protected

Previous robot configuration.

Referenced by getControl().

◆ TIMESTEP_DEFAULT

const double SoTTalosDevice::TIMESTEP_DEFAULT = 0.001
static

◆ torques_

dg::Vector SoTTalosDevice::torques_
protected

◆ velocities_

dg::Vector SoTTalosDevice::velocities_
protected