sot-core
4.10.0
Hierarchical task solver plug-in for dynamic-graph.
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8 #ifndef __sot_torque_control_common_H__
9 #define __sot_torque_control_common_H__
14 #include "boost/assign.hpp"
15 #include <dynamic-graph/linear-algebra.h>
16 #include <dynamic-graph/logger.h>
17 #include <dynamic-graph/signal-helper.h>
39 ForceLimits() : upper(Vector6d::Zero()), lower(Vector6d::Zero()) {}
41 ForceLimits(
const Eigen::VectorXd &l,
const Eigen::VectorXd &u)
42 : upper(u), lower(l) {}
44 void display(std::ostream &os)
const;
55 void set_name_to_force_id(
const std::string &name,
const Index &force_id);
57 void set_force_id_to_limits(
const Index &force_id,
58 const dynamicgraph::Vector &lf,
59 const dynamicgraph::Vector &uf);
61 void create_force_id_to_name_map();
63 Index get_id_from_name(
const std::string &name);
65 const std::string &get_name_from_id(
Index idx);
66 std::string cp_get_name_from_id(
Index idx);
87 void display(std::ostream &out)
const;
100 void display(std::ostream &os)
const;
106 void display(std::ostream &os)
const;
143 void create_id_to_name_map();
154 const Index &get_id_from_name(
const std::string &name);
162 const std::string &get_name_from_id(
Index id);
166 void set_name_to_id(
const std::string &jointName,
const Index &jointId);
169 void set_urdf_to_sot(
const std::vector<Index> &urdf_to_sot);
170 void set_urdf_to_sot(
const dynamicgraph::Vector &urdf_to_sot);
173 void set_joint_limits_for_id(
const Index &idx,
const double &lq,
202 void sendMsg(
const std::string &msg, MsgType t = MSG_TYPE_INFO,
205 const std::string &lineId =
"");
213 void display(std::ostream &os)
const;
220 void set_parameter(
const std::string ¶meter_name,
221 const std::string ¶meter_value);
229 const std::string &get_parameter(
const std::string ¶meter_name);
254 #endif // sot_torque_control_common_h_
Index get_force_id_left_hand()
Definition: robot-utils.hh:71
std::map< Index, std::string > m_id_to_name
The map between id and name.
Definition: robot-utils.hh:132
std::vector< Index > m_urdf_to_sot
Map from the urdf index to the SoT index.
Definition: robot-utils.hh:123
#define SOT_CORE_EXPORT
Definition: api.hh:20
Eigen::VectorXd upper
Definition: robot-utils.hh:36
boost::shared_ptr< RobotUtil > RobotUtilShrPtr
Accessors - This should be changed to RobotUtilPtrShared.
Definition: robot-utils.hh:241
RobotUtilShrPtr createRobotUtil(std::string &robotName)
std::size_t m_nbJoints
Nb of Dofs for the robot.
Definition: robot-utils.hh:126
bool base_se3_to_sot(ConstRefVector pos, ConstRefMatrix R, RefVector q_sot)
Definition: abstract-sot-external-interface.hh:17
Index get_force_id_right_foot()
Definition: robot-utils.hh:83
Eigen::VectorXd::Index Index
Definition: robot-utils.hh:33
Index m_Force_Id_Right_Foot
Definition: robot-utils.hh:53
const typedef Eigen::Ref< const Eigen::MatrixXd > ConstRefMatrix
Definition: matrix-geometry.hh:71
Definition: robot-utils.hh:47
void setLoggerVerbosityLevel(LoggerVerbosity lv)
Specify the verbosity level of the logger.
Definition: robot-utils.hh:208
Index get_force_id_right_hand()
Definition: robot-utils.hh:75
std::map< std::string, std::string > parameters_strings_
Map of the parameters: map of strings.
Definition: robot-utils.hh:236
double upper
Definition: robot-utils.hh:25
dynamicgraph::Vector m_dgv_urdf_to_sot
Definition: robot-utils.hh:148
const typedef Eigen::Ref< const Eigen::VectorXd > & ConstRefVector
Definition: matrix-geometry.hh:69
std::shared_ptr< std::vector< std::string > > getListOfRobots()
Index get_force_id_left_foot()
Definition: robot-utils.hh:79
LoggerVerbosity getLoggerVerbosityLevel()
Get the logger's verbosity level.
Definition: robot-utils.hh:211
void set_force_id_left_hand(Index anId)
Definition: robot-utils.hh:73
std::map< Index, JointLimits > m_limits_map
The joint limits map.
Definition: robot-utils.hh:135
Logger logger_
Definition: robot-utils.hh:233
ForceLimits(const Eigen::VectorXd &l, const Eigen::VectorXd &u)
Definition: robot-utils.hh:41
ForceUtil m_force_util
Forces data.
Definition: robot-utils.hh:114
void set_force_id_left_foot(Index anId)
Definition: robot-utils.hh:81
ForceLimits()
Definition: robot-utils.hh:39
RobotUtilShrPtr RefVoidRobotUtil()
JointLimits()
Definition: robot-utils.hh:28
std::map< Index, ForceLimits > m_force_id_to_limits
Definition: robot-utils.hh:48
Definition: robot-utils.hh:24
Definition: robot-utils.hh:103
std::string m_Right_Hand_Frame_Name
Definition: robot-utils.hh:105
JointLimits(double l, double u)
Definition: robot-utils.hh:30
std::map< Index, std::string > m_force_id_to_name
Definition: robot-utils.hh:50
Eigen::Ref< Eigen::VectorXd > RefVector
Definition: matrix-geometry.hh:68
HandUtil m_hand_util
Hand information.
Definition: robot-utils.hh:120
Index m_Force_Id_Right_Hand
Definition: robot-utils.hh:52
RobotUtilShrPtr getRobotUtil(std::string &robotName)
Definition: robot-utils.hh:109
double lower
Definition: robot-utils.hh:26
std::map< std::string, Index > m_name_to_force_id
Definition: robot-utils.hh:49
void set_force_id_right_hand(Index anId)
Definition: robot-utils.hh:77
std::string m_imu_joint_name
The name of the joint IMU is attached to.
Definition: robot-utils.hh:138
std::string m_urdf_filename
URDF file path.
Definition: robot-utils.hh:146
std::map< std::string, Index > m_name_to_id
Map from the name to the id.
Definition: robot-utils.hh:129
std::string m_Left_Hand_Frame_Name
Definition: robot-utils.hh:104
void set_force_id_right_foot(Index anId)
Definition: robot-utils.hh:85
Eigen::VectorXd lower
Definition: robot-utils.hh:37
FootUtil m_foot_util
Foot information.
Definition: robot-utils.hh:117
Definition: robot-utils.hh:35
bool isNameInRobotUtil(std::string &robotName)