sot-torque-control
1.6.5
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
Loading...
Searching...
No Matches
stc-commands.hh
Go to the documentation of this file.
1
/*
2
* Copyright 2010-2017,
3
* Florent Lamiraux, Rohan Budhiraja
4
*
5
* CNRS/AIST
6
*
7
*/
8
9
#ifndef STC_COMMAND_HH
10
#define STC_COMMAND_HH
11
12
#include <dynamic-graph/command-getter.h>
13
#include <dynamic-graph/command-setter.h>
14
#include <dynamic-graph/command.h>
15
16
#include <boost/assign/list_of.hpp>
17
#include <fstream>
18
#include <
sot/torque_control/joint-trajectory-generator.hh
>
19
20
namespace
dynamicgraph
{
21
namespace
sot {
22
namespace
command {
23
using ::dynamicgraph::command::Command;
24
using ::dynamicgraph::command::Value;
25
using ::dynamicgraph::sot::torque_control::JointTrajectoryGenerator;
26
// Command DisplayModel
27
class
IsTrajectoryEnded
:
public
Command {
28
public
:
29
virtual
~IsTrajectoryEnded
() {
30
sotDEBUGIN(15);
31
sotDEBUGOUT(15);
32
}
36
IsTrajectoryEnded
(JointTrajectoryGenerator& entity,
37
const
std::string& docstring)
38
: Command(entity, std::vector<Value::Type>(), docstring) {}
39
virtual
Value
doExecute
() {
40
JointTrajectoryGenerator& jtg =
41
static_cast<
JointTrajectoryGenerator&
>
(owner());
42
bool
output = jtg.isTrajectoryEnded();
43
return
Value(output);
44
}
45
};
// class IsTrajectoryEnded
46
47
}
// namespace command
48
}
/* namespace sot */
49
}
/* namespace dynamicgraph */
50
51
#endif
// STC_COMMAND_HH
dynamicgraph::sot::command::IsTrajectoryEnded
Definition
stc-commands.hh:27
dynamicgraph::sot::command::IsTrajectoryEnded::IsTrajectoryEnded
IsTrajectoryEnded(JointTrajectoryGenerator &entity, const std::string &docstring)
Definition
stc-commands.hh:36
dynamicgraph::sot::command::IsTrajectoryEnded::doExecute
virtual Value doExecute()
Definition
stc-commands.hh:39
dynamicgraph::sot::command::IsTrajectoryEnded::~IsTrajectoryEnded
virtual ~IsTrajectoryEnded()
Definition
stc-commands.hh:29
joint-trajectory-generator.hh
dynamicgraph
to read text file
Definition
treeview.dox:22
include
sot
torque_control
stc-commands.hh
Generated by
1.9.8