18 #ifndef _SOT_TalosDevice_H_ 19 #define _SOT_TalosDevice_H_ 21 #include <dynamic-graph/entity.h> 22 #include <dynamic-graph/linear-algebra.h> 23 #include <dynamic-graph/signal-ptr.h> 24 #include <dynamic-graph/signal.h> 26 #include <sot/core/abstract-sot-external-interface.hh> 27 #include <sot/core/device.hh> 28 #include <sot/core/matrix-geometry.hh> 43 void setSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
45 void setupSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
51 void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut);
79 void setSensorsForce(std::map<std::string, dgsot::SensorValues> &SensorsIn,
81 void setSensorsIMU(std::map<std::string, dgsot::SensorValues> &SensorsIn,
86 std::map<std::string, dgsot::SensorValues> &SensorsIn,
int t);
88 std::map<std::string, dgsot::SensorValues> &SensorsIn,
int t);
89 void setSensorsGains(std::map<std::string, dgsot::SensorValues> &SensorsIn,
99 dgsot::MatrixRotation
pose;
void setSensorsGains(std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
Definition: sot-talos-device.cpp:247
virtual ~SoTTalosDevice()
Definition: sot-talos-device.cpp:120
dg::Vector currents_
Definition: sot-talos-device.hh:103
dg::Vector p_gains_
Definition: sot-talos-device.hh:104
dynamicgraph::Signal< dg::Vector, int > accelerometerSOUT_
Accelerations measured by accelerometers.
Definition: sot-talos-device.hh:63
void setSensorsTorquesCurrents(std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
Definition: sot-talos-device.cpp:224
dynamicgraph::Signal< dg::Vector, int > joint_anglesSOUT_
joint angles
Definition: sot-talos-device.hh:69
Definition: sot-talos-device.hh:33
dg::Vector velocities_
Definition: sot-talos-device.hh:98
void getControl(std::map< std::string, dgsot::ControlValues > &anglesOut)
Definition: sot-talos-device.cpp:302
void setupSetSensors(std::map< std::string, dgsot::SensorValues > &sensorsIn)
Definition: sot-talos-device.cpp:284
dynamicgraph::Signal< dg::Vector, int > d_gainsSOUT_
Definition: sot-talos-device.hh:76
dg::Vector dgRobotState_
Definition: sot-talos-device.hh:94
dynamicgraph::Signal< dg::Vector, int > p_gainsSOUT_
proportional and derivative position-control gains
Definition: sot-talos-device.hh:74
void setSensorsVelocities(std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
Definition: sot-talos-device.cpp:207
dg::Vector dgRobotVelocity_
Definition: sot-talos-device.hh:97
dg::Vector joint_angles_
Definition: sot-talos-device.hh:95
dynamicgraph::Signal< dg::Vector, int > currentsSOUT_
motor currents
Definition: sot-talos-device.hh:67
dg::Vector dgforces_
Intermediate variables to avoid allocation during control.
Definition: sot-talos-device.hh:93
dgsot::MatrixRotation pose
Definition: sot-talos-device.hh:99
dynamicgraph::Signal< dg::Vector, int > gyrometerSOUT_
Rotation velocity measured by gyrometers.
Definition: sot-talos-device.hh:65
dg::Vector accelerometer_
Definition: sot-talos-device.hh:100
void setSensors(std::map< std::string, dgsot::SensorValues > &sensorsIn)
Definition: sot-talos-device.cpp:269
dg::Vector torques_
Definition: sot-talos-device.hh:102
void setSensorsIMU(std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
Definition: sot-talos-device.cpp:145
void timeStep(double ts)
Definition: sot-talos-device.hh:53
dg::Vector gyrometer_
Definition: sot-talos-device.hh:101
dg::Vector previousState_
Previous robot configuration.
Definition: sot-talos-device.hh:57
Definition: sot-talos-device.cpp:367
virtual const std::string & getClassName() const
Definition: sot-talos-device.hh:38
void setSensorsForce(std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
Protected methods for internal variables filling.
Definition: sot-talos-device.cpp:122
void nominalSetSensors(std::map< std::string, dgsot::SensorValues > &sensorsIn)
Definition: sot-talos-device.cpp:292
static const double TIMESTEP_DEFAULT
Definition: sot-talos-device.hh:36
static const std::string CLASS_NAME
Definition: sot-talos-device.hh:35
dg::Vector motor_angles_
Definition: sot-talos-device.hh:96
void cleanupSetSensors(std::map< std::string, dgsot::SensorValues > &sensorsIn)
Definition: sot-talos-device.cpp:297
SoTTalosDevice(std::string RobotName)
Definition: sot-talos-device.cpp:69
void setSensorsEncoders(std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
Definition: sot-talos-device.cpp:176
dg::Vector d_gains_
Definition: sot-talos-device.hh:105
Definition: sot-talos-device.cpp:366
dynamicgraph::Signal< dg::Vector, int > motor_anglesSOUT_
motor angles
Definition: sot-talos-device.hh:71
std::vector< double > baseff_
Intermediate variables to avoid allocation during control.
Definition: sot-talos-device.hh:60