#include <sot-talos-controller.hh>
Public Member Functions | |
SoTTalosController () | |
SoTTalosController (const char robotName[]) | |
SoTTalosController (std::string robotName) | |
virtual | ~SoTTalosController () |
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 | setNoIntegration (void) |
void | setSecondOrderIntegration (void) |
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AbstractSotExternalInterface () | |
virtual | ~AbstractSotExternalInterface () |
Public Attributes | |
boost::shared_ptr< dynamicgraph::Interpreter > | interpreter_ |
Embedded python interpreter accessible via Corba/ros. More... | |
boost::shared_ptr< ros::NodeHandle > | nh_ |
boost::shared_ptr< ros::AsyncSpinner > | spinner_ |
Static Public Attributes | |
static const std::string | LOG_PYTHON ="/tmp/TalosController_python.out" |
Protected Member Functions | |
void | updateRobotState (std::vector< double > &anglesIn) |
void | runPython (std::ostream &file, const std::string &command, dynamicgraph::Interpreter &interpreter) |
Run a python command. More... | |
virtual void | startupPython () |
void | init () |
Protected Attributes | |
SoTTalosDevice * | device_ |
SoTTalosController::SoTTalosController | ( | ) |
SoTTalosController::SoTTalosController | ( | const char | robotName[] | ) |
References init().
SoTTalosController::SoTTalosController | ( | std::string | robotName | ) |
References init().
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virtual |
References setupSetSensors().
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virtual |
Implements dynamicgraph::sot::AbstractSotExternalInterface.
References SoTTalosDevice::cleanupSetSensors(), device_, and getControl().
Referenced by nominalSetSensors().
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virtual |
Implements dynamicgraph::sot::AbstractSotExternalInterface.
References device_, SoTTalosDevice::getControl(), dynamicgraph::sot::ExceptionAbstract::getStringMessage(), setNoIntegration(), and sotDEBUG.
Referenced by cleanupSetSensors().
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protected |
References device_, interpreter_, sotDEBUG, SoTTalosDevice::timeStep(), and SoTTalosDevice::TIMESTEP_DEFAULT.
Referenced by SoTTalosController().
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virtual |
Implements dynamicgraph::sot::AbstractSotExternalInterface.
References cleanupSetSensors(), device_, and SoTTalosDevice::nominalSetSensors().
Referenced by setupSetSensors().
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protected |
Run a python command.
References startupPython().
Referenced by setSecondOrderIntegration(), SoTPyreneController::startupPython(), and startupPython().
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virtual |
Implements dynamicgraph::sot::AbstractSotExternalInterface.
References device_, dynamicgraph::sot::Device::setNoIntegration(), and setSecondOrderIntegration().
Referenced by getControl().
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virtual |
Implements dynamicgraph::sot::AbstractSotExternalInterface.
References device_, runPython(), and dynamicgraph::sot::Device::setSecondOrderIntegration().
Referenced by setNoIntegration().
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virtual |
Implements dynamicgraph::sot::AbstractSotExternalInterface.
References device_, nominalSetSensors(), and SoTTalosDevice::setupSetSensors().
Referenced by ~SoTTalosController().
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protectedvirtual |
Reimplemented in SoTPyreneController.
References interpreter_, LOG_PYTHON, and runPython().
Referenced by runPython(), and SoTPyreneController::startupPython().
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protected |
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protected |
Referenced by cleanupSetSensors(), getControl(), init(), nominalSetSensors(), setNoIntegration(), setSecondOrderIntegration(), and setupSetSensors().
boost::shared_ptr<dynamicgraph::Interpreter> SoTTalosController::interpreter_ |
Embedded python interpreter accessible via Corba/ros.
Referenced by init(), SoTPyreneController::SoTPyreneController(), SoTPyreneController::startupPython(), and startupPython().
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static |
Referenced by startupPython().
boost::shared_ptr<ros::NodeHandle> SoTTalosController::nh_ |
boost::shared_ptr<ros::AsyncSpinner> SoTTalosController::spinner_ |