sot-core
4.10.0
Hierarchical task solver plug-in for dynamic-graph.
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17 #ifndef __sot_torque_control_parameter_server_H__
18 #define __sot_torque_control_parameter_server_H__
25 #if defined(__sot_torque_parameter_server_H__)
26 #define SOTParameterServer_EXPORT __declspec(dllexport)
28 #define SOTParameterServer_EXPORT __declspec(dllimport)
31 #define SOTParameterServer_EXPORT
38 #include "boost/assign.hpp"
39 #include <dynamic-graph/signal-helper.h>
52 #define CTRL_MODE_TRANSITION_TIME_STEP 1000.0
55 :
public ::dynamicgraph::Entity {
57 DYNAMIC_GRAPH_ENTITY_DECL();
68 void init(
const double &dt,
const std::string &urdfFile,
69 const std::string &robotRef);
75 void init_simple(
const double &dt);
81 void setNameToId(
const std::string &jointName,
const double &jointId);
82 void setJointLimitsFromId(
const double &jointId,
const double &lq,
86 void setForceLimitsFromId(
const double &jointId,
87 const dynamicgraph::Vector &lq,
88 const dynamicgraph::Vector &uq);
89 void setForceNameToForceId(
const std::string &forceName,
90 const double &forceId);
94 void setRightFootSoleXYZ(
const dynamicgraph::Vector &);
95 void setRightFootForceSensorXYZ(
const dynamicgraph::Vector &);
96 void setFootFrameName(
const std::string &,
const std::string &);
97 void setImuJointName(
const std::string &);
98 void displayRobotUtil();
102 void setParameter(
const std::string &ParameterName,
103 const std::string &ParameterValue);
104 std::string getParameter(
const std::string &ParameterName);
107 void setJoints(
const dynamicgraph::Vector &);
110 virtual void display(std::ostream &os)
const;
117 bool m_is_first_iter;
124 bool convertJointNameToJointId(
const std::string &name,
unsigned int &
id);
125 bool isJointInRange(
unsigned int id,
double q);
126 void updateJointCtrlModesOutputSignal();
133 #endif // #ifndef __sot_torque_control_control_manager_H__
RobotUtilShrPtr m_robot_util
Definition: parameter-server.hh:113
boost::shared_ptr< RobotUtil > RobotUtilShrPtr
Accessors - This should be changed to RobotUtilPtrShared.
Definition: robot-utils.hh:241
Definition: abstract-sot-external-interface.hh:17
double m_dt
true if the entity has been successfully initialized
Definition: parameter-server.hh:115
int m_iter
true at the first iteration, false otherwise
Definition: parameter-server.hh:120
bool m_initSucceeded
Definition: parameter-server.hh:114
Definition: parameter-server.hh:54
bool m_emergency_stop_triggered
control loop time period
Definition: parameter-server.hh:116
double m_sleep_time
Definition: parameter-server.hh:121
#define SOTParameterServer_EXPORT
Definition: parameter-server.hh:31
~ParameterServer()
Definition: parameter-server.hh:63