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12 #ifndef _SOT_LOADER_HH_
13 #define _SOT_LOADER_HH_
22 #include <pinocchio/fwd.hpp>
25 #include <boost/program_options.hpp>
26 #include <boost/foreach.hpp>
27 #include <boost/format.hpp>
28 #include <boost/thread/thread.hpp>
32 #include "std_srvs/Empty.h"
33 #include <sensor_msgs/JointState.h>
34 #include <tf2_ros/transform_broadcaster.h>
37 #include <sot/core/debug.hh>
38 #include <sot/core/abstract-sot-external-interface.hh>
43 namespace po = boost::program_options;
44 namespace dgs = dynamicgraph::sot;
93 void fillSensors(std::map<std::string, dgs::SensorValues> &sensorsIn);
96 void readControl(std::map<std::string, dgs::ControlValues> &controlValues);
std::vector< double > baseAtt_
Attitude of the robot computed by extended Kalman filter.
Definition: sot_loader.hh:62
std::vector< double > angleEncoder_
Angular values read by encoders.
Definition: sot_loader.hh:54
std::map< std::string, dgs::ControlValues > controlValues_
Map of control values.
Definition: sot_loader.hh:51
Definition: sot_loader_basic.hh:41
std::map< std::string, dgs::SensorValues > sensorsIn_
Map of sensor readings.
Definition: sot_loader.hh:49
void initializeRosNode(int argc, char *argv[])
std::vector< double > angleControl_
Angular values sent to motors.
Definition: sot_loader.hh:56
std::vector< double > accelerometer_
Accelerations read by Accelerometers.
Definition: sot_loader.hh:64
tf2_ros::TransformBroadcaster freeFlyerPublisher_
Definition: sot_loader.hh:78
std::string robot_desc_string_
URDF string description of the robot.
Definition: sot_loader.hh:69
void readControl(std::map< std::string, dgs::ControlValues > &controlValues)
boost::thread thread_
The thread running dynamic graph.
Definition: sot_loader.hh:72
geometry_msgs::TransformStamped freeFlyerPose_
Definition: sot_loader.hh:79
std::vector< double > gyrometer_
Angular velocity read by gyrometers.
Definition: sot_loader.hh:66
std::vector< double > forces_
Forces read by force sensors.
Definition: sot_loader.hh:58
void fillSensors(std::map< std::string, dgs::SensorValues > &sensorsIn)
std::vector< double > torques_
Torques.
Definition: sot_loader.hh:60
virtual void startControlLoop()
Definition: sot_loader.hh:46