#include <sot/talos_balance/talos-control-manager.hh>

Inheritance diagram for TalosControlManager:

Collaboration diagram for TalosControlManager:

Public Member Functions
	TalosControlManager (const std::string &name)

void	addCtrlMode (const std::string &name)
	safe motor control More...

void	addEmergencyStopSIN (const std::string &name)

void	ctrlModes ()

	DECLARE_SIGNAL_IN (u_max, dynamicgraph::Vector)

	DECLARE_SIGNAL_OUT (u, dynamicgraph::Vector)
	max motor control More...

	DECLARE_SIGNAL_OUT (u_safe, dynamicgraph::Vector)
	raw motor control More...

virtual void	display (std::ostream &os) const

void	getCtrlMode (const std::string &jointName)

void	init (const double &dt, const std::string &robotRef)

void	resetProfiler ()

void	setCtrlMode (const int jid, const CtrlMode &cm)

void	setCtrlMode (const std::string &jointName, const std::string &ctrlMode)

void	setSleepTime (const double &seconds)
	Commands related to joint name and joint id. More...

Public Attributes
std::vector< dynamicgraph::SignalPtr< dynamicgraph::Vector, int > * >	m_ctrlInputsSIN

std::vector< dynamicgraph::SignalPtr< bool, int > * >	m_emergencyStopVector

std::vector< dynamicgraph::Signal< dynamicgraph::Vector, int > * >	m_jointsCtrlModesSOUT

Protected Member Functions
bool	convertJointNameToJointId (const std::string &name, unsigned int &id)

bool	convertStringToCtrlMode (const std::string &name, CtrlMode &cm)

void	updateJointCtrlModesOutputSignal ()

Protected Attributes
std::vector< std::string >	m_ctrlModes

double	m_dt
	true if the entity has been successfully initialized More...

bool	m_emergency_stop_triggered
	control loop time period More...

bool	m_initSucceeded

bool	m_is_first_iter

int	m_iter
	true at the first iteration, false otherwise More...

std::vector< CtrlMode >	m_jointCtrlModes_current
	existing control modes More...

std::vector< CtrlMode >	m_jointCtrlModes_previous
	control mode of the joints More...

std::vector< int >	m_jointCtrlModesCountDown
	previous control mode of the joints More...

size_t	m_numDofs

RobotUtilShrPtr	m_robot_util

double	m_sleep_time

Detailed Description

Definition at line 76 of file talos-control-manager.hh.

Constructor & Destructor Documentation

◆ TalosControlManager()

TalosControlManager ( const std::string & name )

Definition at line 54 of file talos-control-manager.cpp.

Member Function Documentation

◆ addCtrlMode()

void addCtrlMode ( const std::string & name )

safe motor control

Commands related to the control mode.

Definition at line 260 of file talos-control-manager.cpp.

◆ addEmergencyStopSIN()

void addEmergencyStopSIN ( const std::string & name )

Definition at line 374 of file talos-control-manager.cpp.

◆ convertJointNameToJointId()

bool convertJointNameToJointId	(	const std::string &	name,
		unsigned int &	id
	)

protected

Definition at line 427 of file talos-control-manager.cpp.

◆ convertStringToCtrlMode()

bool convertStringToCtrlMode	(	const std::string &	name,
		CtrlMode &	cm
	)

protected

counters used for the transition between two ctrl modes

Definition at line 413 of file talos-control-manager.cpp.

◆ ctrlModes()

void ctrlModes ( )

Definition at line 290 of file talos-control-manager.cpp.

◆ DECLARE_SIGNAL_IN()

DECLARE_SIGNAL_IN	(	u_max	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [1/2]

DECLARE_SIGNAL_OUT	(	u	,
		dynamicgraph::Vector
	)

max motor control

◆ DECLARE_SIGNAL_OUT() [2/2]

DECLARE_SIGNAL_OUT	(	u_safe	,
		dynamicgraph::Vector
	)

raw motor control

◆ display()

void display ( std::ostream & os ) const

virtual

Definition at line 471 of file talos-control-manager.cpp.

◆ getCtrlMode()

void getCtrlMode ( const std::string & jointName )

Definition at line 342 of file talos-control-manager.cpp.

◆ init()

void init	(	const double &	dt,
		const std::string &	robotRef
	)

Initialize

Parameters

dt	control interval
urdfFile	path to the URDF model of the robot

Definition at line 120 of file talos-control-manager.cpp.

◆ resetProfiler()

void resetProfiler ( )

Definition at line 358 of file talos-control-manager.cpp.

◆ setCtrlMode() [1/2]

void setCtrlMode	(	const int	jid,
		const CtrlMode &	cm
	)

Definition at line 318 of file talos-control-manager.cpp.

◆ setCtrlMode() [2/2]

void setCtrlMode	(	const std::string &	jointName,
		const std::string &	ctrlMode
	)

◆ setSleepTime()

void setSleepTime ( const double & seconds )

Commands related to joint name and joint id.

Set the mapping between urdf and sot.

Definition at line 368 of file talos-control-manager.cpp.

◆ updateJointCtrlModesOutputSignal()

void updateJointCtrlModesOutputSignal ( )

protected

Definition at line 391 of file talos-control-manager.cpp.

Member Data Documentation

◆ m_ctrlInputsSIN

std::vector<dynamicgraph::SignalPtr<dynamicgraph::Vector, int>*> m_ctrlInputsSIN

Definition at line 93 of file talos-control-manager.hh.

◆ m_ctrlModes

std::vector<std::string> m_ctrlModes

protected

time to sleep at every iteration (to slow down simulation)

Definition at line 145 of file talos-control-manager.hh.

◆ m_dt

double m_dt

protected

true if the entity has been successfully initialized

Definition at line 136 of file talos-control-manager.hh.

◆ m_emergency_stop_triggered

bool m_emergency_stop_triggered

protected

control loop time period

Definition at line 137 of file talos-control-manager.hh.

◆ m_emergencyStopVector

std::vector<dynamicgraph::SignalPtr<bool, int>*> m_emergencyStopVector

Definition at line 95 of file talos-control-manager.hh.

◆ m_initSucceeded

bool m_initSucceeded

protected

Definition at line 135 of file talos-control-manager.hh.

◆ m_is_first_iter

bool m_is_first_iter

protected

true if an emergency condition as been triggered either by an other entity, or by control limit violation

Definition at line 140 of file talos-control-manager.hh.

◆ m_iter

int m_iter

protected

true at the first iteration, false otherwise

Definition at line 141 of file talos-control-manager.hh.

◆ m_jointCtrlModes_current

std::vector<CtrlMode> m_jointCtrlModes_current

protected

existing control modes

Definition at line 147 of file talos-control-manager.hh.

◆ m_jointCtrlModes_previous

std::vector<CtrlMode> m_jointCtrlModes_previous

protected

control mode of the joints

Definition at line 149 of file talos-control-manager.hh.

◆ m_jointCtrlModesCountDown

std::vector<int> m_jointCtrlModesCountDown

protected

previous control mode of the joints

Definition at line 151 of file talos-control-manager.hh.

◆ m_jointsCtrlModesSOUT

std::vector<dynamicgraph::Signal<dynamicgraph::Vector, int>*> m_jointsCtrlModesSOUT

emergency stop inputs. If one is true, control is set to zero forever

Definition at line 98 of file talos-control-manager.hh.

◆ m_numDofs

size_t m_numDofs

protected

Definition at line 133 of file talos-control-manager.hh.

◆ m_robot_util

RobotUtilShrPtr m_robot_util

protected

Definition at line 132 of file talos-control-manager.hh.

◆ m_sleep_time

double m_sleep_time

protected

Definition at line 142 of file talos-control-manager.hh.

The documentation for this class was generated from the following files:

include/sot/talos_balance/talos-control-manager.hh
src/talos-control-manager.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TalosControlManager()

Member Function Documentation

◆ addCtrlMode()

◆ addEmergencyStopSIN()

◆ convertJointNameToJointId()

◆ convertStringToCtrlMode()

◆ ctrlModes()

◆ DECLARE_SIGNAL_IN()

◆ DECLARE_SIGNAL_OUT() [1/2]

◆ DECLARE_SIGNAL_OUT() [2/2]

◆ display()

◆ getCtrlMode()

◆ init()

◆ resetProfiler()

◆ setCtrlMode() [1/2]

◆ setCtrlMode() [2/2]

◆ setSleepTime()

◆ updateJointCtrlModesOutputSignal()

Member Data Documentation

◆ m_ctrlInputsSIN

◆ m_ctrlModes

◆ m_dt

◆ m_emergency_stop_triggered

◆ m_emergencyStopVector

◆ m_initSucceeded

◆ m_is_first_iter

◆ m_iter

◆ m_jointCtrlModes_current

◆ m_jointCtrlModes_previous

◆ m_jointCtrlModesCountDown

◆ m_jointsCtrlModesSOUT

◆ m_numDofs

◆ m_robot_util

◆ m_sleep_time