#include <pseudo-robot-dynamic.h>
Public Types | |
typedef ::dynamicgraph::EntityHelper< PseudoRobotDynamic >::EntityClassName | EntityClassName |
typedef ::dynamicgraph::EntityHelper< PseudoRobotDynamic >::EntityClassName | EntityClassName |
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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 |
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typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
Public Member Functions | |
PseudoRobotDynamic (const std::string &name) | |
virtual void | display (std::ostream &os) const |
virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
DECLARE_SIGNAL_IN (control, ml::Vector) | |
DECLARE_SIGNAL_OUT (qdot, ml::Vector) | |
DECLARE_SIGNAL (rotation, OUT, ml::Vector) | |
DECLARE_SIGNAL (translation, OUT, ml::Vector) | |
void | replaceSimulatorEntity (const std::string &formerName, const bool &plug=false) |
void | setRoot (const ml::Matrix &M) |
template<typename T1 > | |
void | forwardVoidCommandToSimu (const std::string &cmdName, const T1 &arg1) |
void | addForward (const std::string &cmdName) |
PseudoRobotDynamic (const std::string &name) | |
virtual void | display (std::ostream &os) const |
virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
DECLARE_SIGNAL_IN (control, ml::Vector) | |
DECLARE_SIGNAL_OUT (qdot, ml::Vector) | |
DECLARE_SIGNAL (rotation, OUT, ml::Vector) | |
DECLARE_SIGNAL (translation, OUT, ml::Vector) | |
void | replaceSimulatorEntity (const std::string &formerName, const bool &plug=false) |
void | setRoot (const ml::Matrix &M) |
template<typename T1 > | |
void | forwardVoidCommandToSimu (const std::string &cmdName, const T1 &arg1) |
void | addForward (const std::string &cmdName) |
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DynamicIntegrator (const std::string &name) | |
DECLARE_SIGNAL_IN (acceleration, ml::Vector) | |
DECLARE_SIGNAL_IN (dt, double) | |
DECLARE_SIGNAL_OUT (velocity, ml::Vector) | |
DECLARE_SIGNAL_OUT (position, ml::Vector) | |
void | integrate (const ml::Vector &acceleration, const double &dt, ml::Vector &velocity, ml::Vector &position) |
void | integrateFromSignals (const int &time) |
void | integrateFromSignals (void) |
void | setPosition (const ml::Vector &p) |
void | setVelocity (const ml::Vector &v) |
void | setState (const ml::Vector &p, const ml::Vector &v) |
DynamicIntegrator (const std::string &name) | |
DECLARE_SIGNAL_IN (acceleration, ml::Vector) | |
DECLARE_SIGNAL_IN (dt, double) | |
DECLARE_SIGNAL_OUT (velocity, ml::Vector) | |
DECLARE_SIGNAL_OUT (position, ml::Vector) | |
void | integrate (const ml::Vector &acceleration, const double &dt, ml::Vector &velocity, ml::Vector &position) |
void | integrateFromSignals (const int &time) |
void | integrateFromSignals (void) |
void | setPosition (const ml::Vector &p) |
void | setVelocity (const ml::Vector &v) |
void | setState (const ml::Vector &p, const ml::Vector &v) |
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Entity (const std::string &name) | |
virtual | ~Entity () |
const std::string & | getName () const |
virtual const std::string & | getClassName () const=0 |
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 |
Public Attributes | |
::dynamicgraph::SignalPtr< ml::Vector, int > | stateSOUT |
Additional Inherited Members | |
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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) |
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ml::Vector | position |
ml::Vector | velocity |
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std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
typedef ::dynamicgraph::EntityHelper<PseudoRobotDynamic>::EntityClassName dynamicgraph::sot::dyninv::PseudoRobotDynamic::EntityClassName |
typedef ::dynamicgraph::EntityHelper<PseudoRobotDynamic>::EntityClassName dynamicgraph::sot::dyninv::PseudoRobotDynamic::EntityClassName |
dynamicgraph::sot::dyninv::PseudoRobotDynamic::PseudoRobotDynamic | ( | const std::string & | name | ) |
References dynamicgraph::Entity::addCommand(), addForward(), docCommandVoid1(), docCommandVoid2(), EIGEN_CONST_VECTOR_FROM_SIGNAL, EIGEN_VECTOR_FROM_SIGNAL, EIGEN_VECTOR_FROM_VECTOR, dynamicgraph::sot::dyninv::DynamicIntegrator::integrateFromSignals(), makeCommandVoid1(), makeCommandVoid2(), dynamicgraph::sot::dyninv::DynamicIntegrator::position, replaceSimulatorEntity(), setRoot(), dynamicgraph::Entity::signalRegistration(), maal::boost::Vector::size(), sotDEBUGIN, sotDEBUGOUT, stateSOUT, and dynamicgraph::sot::dyninv::DynamicIntegrator::velocity.
dynamicgraph::sot::dyninv::PseudoRobotDynamic::PseudoRobotDynamic | ( | const std::string & | name | ) |
void dynamicgraph::sot::dyninv::PseudoRobotDynamic::addForward | ( | const std::string & | cmdName | ) |
References dynamicgraph::Entity::addCommand(), and display().
Referenced by forwardVoidCommandToSimu(), and PseudoRobotDynamic().
void dynamicgraph::sot::dyninv::PseudoRobotDynamic::addForward | ( | const std::string & | cmdName | ) |
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virtual |
Reimplemented from dynamicgraph::sot::dyninv::DynamicIntegrator.
References dynamicgraph::Entity::commandLine(), replaceSimulatorEntity(), setRoot(), sotDEBUGIN, and sotDEBUGOUT.
Referenced by display().
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virtual |
Reimplemented from dynamicgraph::sot::dyninv::DynamicIntegrator.
dynamicgraph::sot::dyninv::PseudoRobotDynamic::DECLARE_SIGNAL | ( | rotation | , |
OUT | , | ||
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::PseudoRobotDynamic::DECLARE_SIGNAL | ( | rotation | , |
OUT | , | ||
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::PseudoRobotDynamic::DECLARE_SIGNAL | ( | translation | , |
OUT | , | ||
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::PseudoRobotDynamic::DECLARE_SIGNAL | ( | translation | , |
OUT | , | ||
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::PseudoRobotDynamic::DECLARE_SIGNAL_IN | ( | control | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::PseudoRobotDynamic::DECLARE_SIGNAL_IN | ( | control | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::PseudoRobotDynamic::DECLARE_SIGNAL_OUT | ( | qdot | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::PseudoRobotDynamic::DECLARE_SIGNAL_OUT | ( | qdot | , |
ml::Vector | |||
) |
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virtual |
Reimplemented from dynamicgraph::sot::dyninv::DynamicIntegrator.
References commandLine(), and dynamicgraph::Entity::getName().
Referenced by addForward().
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virtual |
Reimplemented from dynamicgraph::sot::dyninv::DynamicIntegrator.
void dynamicgraph::sot::dyninv::PseudoRobotDynamic::forwardVoidCommandToSimu | ( | const std::string & | cmdName, |
const T1 & | arg1 | ||
) |
References addForward().
Referenced by setRoot().
void dynamicgraph::sot::dyninv::PseudoRobotDynamic::forwardVoidCommandToSimu | ( | const std::string & | cmdName, |
const T1 & | arg1 | ||
) |
void dynamicgraph::sot::dyninv::PseudoRobotDynamic::replaceSimulatorEntity | ( | const std::string & | formerName, |
const bool & | plug = false |
||
) |
void dynamicgraph::sot::dyninv::PseudoRobotDynamic::replaceSimulatorEntity | ( | const std::string & | formerName, |
const bool & | plug = false |
||
) |
References dynamicgraph::PoolStorage::deregisterEntity(), dynamicgraph::Entity::entityDeregistration(), dynamicgraph::Entity::entityRegistration(), dynamicgraph::g_pool(), dynamicgraph::PoolStorage::getEntity(), dynamicgraph::Entity::name, dynamicgraph::PoolStorage::registerEntity(), setRoot(), dynamicgraph::sot::dyninv::DynamicIntegrator::setState(), maal::boost::Vector::setZero(), and maal::boost::Vector::size().
Referenced by commandLine(), dynamicgraph::sot::dyninv::PseudoRobotDynamic_Static::computeEulerFromRotationMatrix(), and PseudoRobotDynamic().
void dynamicgraph::sot::dyninv::PseudoRobotDynamic::setRoot | ( | const ml::Matrix & | M | ) |
References dynamicgraph::sot::dyninv::PseudoRobotDynamic_Static::computeEulerFromRotationMatrix(), EIGEN_CONST_MATRIX_FROM_SIGNAL, EIGEN_VECTOR_FROM_SIGNAL, forwardVoidCommandToSimu(), dynamicgraph::sot::dyninv::DynamicIntegrator::position, and sotDEBUG.
Referenced by commandLine(), PseudoRobotDynamic(), and replaceSimulatorEntity().
void dynamicgraph::sot::dyninv::PseudoRobotDynamic::setRoot | ( | const ml::Matrix & | M | ) |
dynamicgraph::SignalPtr< ml::Vector, int > dynamicgraph::sot::dyninv::PseudoRobotDynamic::stateSOUT |
Referenced by PseudoRobotDynamic().