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();
66 void init(
const double &dt,
const std::string &urdfFile,
67 const std::string &robotRef);
74 void setNameToId(
const std::string &jointName,
const double &jointId);
75 void setJointLimitsFromId(
const double &jointId,
const double &lq,
79 void setForceLimitsFromId(
const double &jointId,
80 const dynamicgraph::Vector &lq,
81 const dynamicgraph::Vector &uq);
82 void setForceNameToForceId(
const std::string &forceName,
83 const double &forceId);
87 void setRightFootSoleXYZ(
const dynamicgraph::Vector &);
88 void setRightFootForceSensorXYZ(
const dynamicgraph::Vector &);
89 void setFootFrameName(
const std::string &,
const std::string &);
90 void setImuJointName(
const std::string &);
91 void displayRobotUtil();
95 void setParameter(
const std::string &ParameterName,
96 const std::string &ParameterValue);
97 std::string getParameter(
const std::string &ParameterName);
100 void setJoints(
const dynamicgraph::Vector &);
103 virtual void display(std::ostream &os)
const;
110 bool m_is_first_iter;
117 bool convertJointNameToJointId(
const std::string &name,
unsigned int &
id);
118 bool isJointInRange(
unsigned int id,
double q);
119 void updateJointCtrlModesOutputSignal();
126 #endif // #ifndef __sot_torque_control_control_manager_H__