SoTTalosController Class Reference

#include <sot-talos-controller.hh>

Inheritance diagram for SoTTalosController:
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Collaboration diagram for SoTTalosController:
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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)
 
- Public Member Functions inherited from dynamicgraph::sot::AbstractSotExternalInterface
 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

SoTTalosDevicedevice_
 

Constructor & Destructor Documentation

◆ SoTTalosController() [1/3]

SoTTalosController::SoTTalosController ( )

◆ SoTTalosController() [2/3]

SoTTalosController::SoTTalosController ( const char  robotName[])

References init().

◆ SoTTalosController() [3/3]

SoTTalosController::SoTTalosController ( std::string  robotName)

References init().

◆ ~SoTTalosController()

SoTTalosController::~SoTTalosController ( )
virtual

References setupSetSensors().

Member Function Documentation

◆ cleanupSetSensors()

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

◆ getControl()

void SoTTalosController::getControl ( std::map< std::string, dgsot::ControlValues > &  anglesOut)
virtual

◆ init()

void SoTTalosController::init ( void  )
protected

◆ nominalSetSensors()

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

◆ runPython()

void SoTTalosController::runPython ( std::ostream &  file,
const std::string &  command,
dynamicgraph::Interpreter &  interpreter 
)
protected

◆ setNoIntegration()

void SoTTalosController::setNoIntegration ( void  )
virtual

◆ setSecondOrderIntegration()

void SoTTalosController::setSecondOrderIntegration ( void  )
virtual

◆ setupSetSensors()

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

◆ startupPython()

void SoTTalosController::startupPython ( )
protectedvirtual

◆ updateRobotState()

void SoTTalosController::updateRobotState ( std::vector< double > &  anglesIn)
protected

Member Data Documentation

◆ device_

◆ interpreter_

boost::shared_ptr<dynamicgraph::Interpreter> SoTTalosController::interpreter_

Embedded python interpreter accessible via Corba/ros.

Referenced by init(), SoTPyreneController::SoTPyreneController(), SoTPyreneController::startupPython(), and startupPython().

◆ LOG_PYTHON

const std::string SoTTalosController::LOG_PYTHON ="/tmp/TalosController_python.out"
static

Referenced by startupPython().

◆ nh_

boost::shared_ptr<ros::NodeHandle> SoTTalosController::nh_

◆ spinner_

boost::shared_ptr<ros::AsyncSpinner> SoTTalosController::spinner_