dynamicgraph::sot::GripperControlPlugin Class Reference

#include <sot/core/gripper-control.hh>

Inheritance diagram for dynamicgraph::sot::GripperControlPlugin:

Public Member Functions
	GripperControlPlugin (const std::string &name)
virtual	~GripperControlPlugin (void)
virtual std::string	getDocString () const
void	initCommands ()
void	setOffset (const double &value)
Public Member Functions inherited from dynamicgraph::Entity
	Entity (const std::string &name)
virtual	~Entity ()
const std::string &	getName () const
virtual const std::string &	getClassName () const
bool	hasSignal (const std::string &signame) const
SignalBase< int > &	getSignal (const std::string &signalName)
const SignalBase< int > &	getSignal (const std::string &signalName) const
std::ostream &	displaySignalList (std::ostream &os) const
virtual std::ostream &	writeGraph (std::ostream &os) const
virtual std::ostream &	writeCompletionList (std::ostream &os) const
virtual void	display (std::ostream &os) const
virtual SignalBase< int > *	test ()
virtual void	test2 (SignalBase< int > *)
const std::string &	getCommandList () const
CommandMap_t	getNewStyleCommandMap ()
command::Command *	getNewStyleCommand (const std::string &cmdName)
SignalMap	getSignalMap () const
void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
void	setLoggerVerbosityLevel (LoggerVerbosity lv)
LoggerVerbosity	getLoggerVerbosityLevel ()
Public Member Functions inherited from dynamicgraph::sot::GripperControl
	GripperControl (void)
void	computeIncrement (const dg::Vector &torques, const dg::Vector &torqueLimits, const dg::Vector &currentNormVel)
	Computes the. More...
dg::Vector &	computeDesiredPosition (const dg::Vector &currentPos, const dg::Vector &desiredPos, const dg::Vector &torques, const dg::Vector &torqueLimits, dg::Vector &referencePos)

Public Attributes
bool	calibrationStarted
dg::SignalPtr< dg::Vector, int >	positionSIN
dg::SignalPtr< dg::Vector, int >	positionDesSIN
dg::SignalPtr< dg::Vector, int >	torqueSIN
dg::SignalPtr< dg::Vector, int >	torqueLimitSIN
dg::SignalPtr< Flags, int >	selectionSIN
dg::SignalPtr< dg::Vector, int >	positionFullSizeSIN
dg::SignalTimeDependent< dg::Vector, int >	positionReduceSOUT
dg::SignalPtr< dg::Vector, int >	torqueFullSizeSIN
dg::SignalTimeDependent< dg::Vector, int >	torqueReduceSOUT
dg::SignalPtr< dg::Vector, int >	torqueLimitFullSizeSIN
dg::SignalTimeDependent< dg::Vector, int >	torqueLimitReduceSOUT
dg::SignalTimeDependent< dg::Vector, int >	desiredPositionSOUT

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * >	SignalMap
typedef std::map< const std::string, command::Command * >	CommandMap_t
Static Public Member Functions inherited from dynamicgraph::sot::GripperControl
static dg::Vector &	selector (const dg::Vector &fullsize, const Flags &selec, dg::Vector &desPos)
	select only some of the values of the vector fullsize, based on the Flags vector. More...
Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)
void	entityRegistration ()
void	entityDeregistration ()
void	signalRegistration (const SignalArray< int > &signals)
void	signalDeregistration (const std::string &name)
Protected Attributes inherited from dynamicgraph::Entity
std::string	name
SignalMap	signalMap
CommandMap_t	commandMap
Logger	logger_
Protected Attributes inherited from dynamicgraph::sot::GripperControl
double	offset
dg::Vector	factor
	The multiplication. More...
Static Protected Attributes inherited from dynamicgraph::sot::GripperControl
static const double	OFFSET_DEFAULT

Constructor & Destructor Documentation

dynamicgraph::sot::GripperControlPlugin::GripperControlPlugin

(

const std::string &

name

)

virtual dynamicgraph::sot::GripperControlPlugin::~GripperControlPlugin ( void  )

virtual

Member Function Documentation

virtual std::string dynamicgraph::sot::GripperControlPlugin::getDocString ( ) const

virtual

Reimplemented from dynamicgraph::Entity.

void dynamicgraph::sot::GripperControlPlugin::initCommands

(

)

void dynamicgraph::sot::GripperControlPlugin::setOffset

(

const double &

value

)

Member Data Documentation

bool dynamicgraph::sot::GripperControlPlugin::calibrationStarted

dg::SignalTimeDependent<dg::Vector,int> dynamicgraph::sot::GripperControlPlugin::desiredPositionSOUT

dg::SignalPtr<dg::Vector,int> dynamicgraph::sot::GripperControlPlugin::positionDesSIN

dg::SignalPtr<dg::Vector,int> dynamicgraph::sot::GripperControlPlugin::positionFullSizeSIN

dg::SignalTimeDependent<dg::Vector,int> dynamicgraph::sot::GripperControlPlugin::positionReduceSOUT

dg::SignalPtr<dg::Vector,int> dynamicgraph::sot::GripperControlPlugin::positionSIN

dg::SignalPtr<Flags,int> dynamicgraph::sot::GripperControlPlugin::selectionSIN

dg::SignalPtr<dg::Vector,int> dynamicgraph::sot::GripperControlPlugin::torqueFullSizeSIN

dg::SignalPtr<dg::Vector,int> dynamicgraph::sot::GripperControlPlugin::torqueLimitFullSizeSIN

dg::SignalTimeDependent<dg::Vector,int> dynamicgraph::sot::GripperControlPlugin::torqueLimitReduceSOUT

dg::SignalPtr<dg::Vector,int> dynamicgraph::sot::GripperControlPlugin::torqueLimitSIN

dg::SignalTimeDependent<dg::Vector,int> dynamicgraph::sot::GripperControlPlugin::torqueReduceSOUT

dg::SignalPtr<dg::Vector,int> dynamicgraph::sot::GripperControlPlugin::torqueSIN