#include <sot/core/parameter-server.hh>
Public Member Functions | |
ParameterServer (const std::string &name) | |
void | init (const double &dt, const std::string &urdfFile, const std::string &robotRef) |
Initialize. More... | |
void | setNameToId (const std::string &jointName, const double &jointId) |
Commands related to joint name and joint id. More... | |
void | setJointLimitsFromId (const double &jointId, const double &lq, const double &uq) |
void | setForceLimitsFromId (const double &jointId, const dynamicgraph::Vector &lq, const dynamicgraph::Vector &uq) |
Command related to ForceUtil. More... | |
void | setForceNameToForceId (const std::string &forceName, const double &forceId) |
void | setRightFootSoleXYZ (const dynamicgraph::Vector &) |
Commands related to FootUtil. More... | |
void | setRightFootForceSensorXYZ (const dynamicgraph::Vector &) |
void | setFootFrameName (const std::string &, const std::string &) |
void | setImuJointName (const std::string &) |
void | displayRobotUtil () |
void | setJoints (const dynamicgraph::Vector &) |
Set the mapping between urdf and sot. More... | |
virtual void | display (std::ostream &os) const |
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Entity (const std::string &name) | |
virtual | ~Entity () |
const std::string & | getName () const |
virtual const std::string & | getClassName () 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 | |
bool | convertJointNameToJointId (const std::string &name, unsigned int &id) |
time to sleep at every iteration (to slow down simulation) More... | |
bool | isJointInRange (unsigned int id, double q) |
void | updateJointCtrlModesOutputSignal () |
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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) |
Protected Attributes | |
RobotUtilShrPtr | m_robot_util |
bool | m_initSucceeded |
double | m_dt |
true if the entity has been successfully initialized More... | |
bool | m_emergency_stop_triggered |
control loop time period More... | |
bool | m_is_first_iter |
true if an emergency condition as been triggered either by an other entity, or by control limit violation More... | |
int | m_iter |
true at the first iteration, false otherwise More... | |
double | m_sleep_time |
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std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
Logger | logger_ |
Additional Inherited Members | |
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typedef std::map< std::string, SignalBase< int > *> | SignalMap |
typedef std::map< const std::string, command::Command *> | CommandMap_t |
dynamicgraph::sot::ParameterServer::ParameterServer | ( | const std::string & | name | ) |
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protected |
time to sleep at every iteration (to slow down simulation)
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virtual |
Reimplemented from dynamicgraph::Entity.
void dynamicgraph::sot::ParameterServer::displayRobotUtil | ( | ) |
void dynamicgraph::sot::ParameterServer::init | ( | const double & | dt, |
const std::string & | urdfFile, | ||
const std::string & | robotRef | ||
) |
Initialize.
dt | control interval |
urdfFile | path to the URDF model of the robot |
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protected |
void dynamicgraph::sot::ParameterServer::setFootFrameName | ( | const std::string & | , |
const std::string & | |||
) |
void dynamicgraph::sot::ParameterServer::setForceLimitsFromId | ( | const double & | jointId, |
const dynamicgraph::Vector & | lq, | ||
const dynamicgraph::Vector & | uq | ||
) |
Command related to ForceUtil.
void dynamicgraph::sot::ParameterServer::setForceNameToForceId | ( | const std::string & | forceName, |
const double & | forceId | ||
) |
void dynamicgraph::sot::ParameterServer::setImuJointName | ( | const std::string & | ) |
void dynamicgraph::sot::ParameterServer::setJointLimitsFromId | ( | const double & | jointId, |
const double & | lq, | ||
const double & | uq | ||
) |
void dynamicgraph::sot::ParameterServer::setJoints | ( | const dynamicgraph::Vector & | ) |
Set the mapping between urdf and sot.
void dynamicgraph::sot::ParameterServer::setNameToId | ( | const std::string & | jointName, |
const double & | jointId | ||
) |
Commands related to joint name and joint id.
void dynamicgraph::sot::ParameterServer::setRightFootForceSensorXYZ | ( | const dynamicgraph::Vector & | ) |
void dynamicgraph::sot::ParameterServer::setRightFootSoleXYZ | ( | const dynamicgraph::Vector & | ) |
Commands related to FootUtil.
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true if the entity has been successfully initialized
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control loop time period
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true if an emergency condition as been triggered either by an other entity, or by control limit violation
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true at the first iteration, false otherwise
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