dynamicgraph::sot::RobotSimu Class Reference
#include <sot/core/robot-simu.hh>
Inheritance diagram for dynamicgraph::sot::RobotSimu:
Public Member Functions | |
| RobotSimu (const std::string &inName) | |
| virtual const std::string & | getClassName (void) const |
 Public Member Functions inherited from dynamicgraph::sot::Device | |
| Device (const std::string &name) | |
| virtual | ~Device () |
| virtual void | setStateSize (const unsigned int &size) |
| virtual void | setState (const dg::Vector &st) |
| void | setVelocitySize (const unsigned int &size) |
| virtual void | setVelocity (const dg::Vector &vel) |
| virtual void | setSecondOrderIntegration () |
| virtual void | setNoIntegration () |
| virtual void | setControlInputType (const std::string &cit) |
| virtual void | increment (const double &dt=5e-2) |
| virtual void | display (std::ostream &os) const |
| virtual void | cmdDisplay () |
| virtual void | setRoot (const dg::Matrix &root) |
| virtual void | setRoot (const MatrixHomogeneous &worldMwaist) |
| void | setSanityCheck (const bool &enableCheck) |
| void | setPositionBounds (const Vector &lower, const Vector &upper) |
| void | setVelocityBounds (const Vector &lower, const Vector &upper) |
| void | setTorqueBounds (const Vector &lower, const Vector &upper) |
Static Public Attributes | |
| static const std::string | CLASS_NAME |
| Static Public Attributes inherited from dynamicgraph::sot::Device | |
| static const std::string | CLASS_NAME |
Additional Inherited Members | |
| Public Types inherited from dynamicgraph::sot::Device | |
| enum | ForceSignalSource { FORCE_SIGNAL_RLEG, FORCE_SIGNAL_LLEG, FORCE_SIGNAL_RARM, FORCE_SIGNAL_LARM } |
| Public Attributes inherited from dynamicgraph::sot::Device | |
| dynamicgraph::SignalPtr< dg::Vector, int > | controlSIN |
| dynamicgraph::SignalPtr< dg::Vector, int > | attitudeSIN |
| dynamicgraph::SignalPtr< dg::Vector, int > | zmpSIN |
| dynamicgraph::Signal< dg::Vector, int > | stateSOUT |
| dynamicgraph::Signal< dg::Vector, int > | velocitySOUT |
| dynamicgraph::Signal< MatrixRotation, int > | attitudeSOUT |
| dynamicgraph::Signal< dg::Vector, int > | motorcontrolSOUT |
| The current state of the robot from the command viewpoint. More... | |
| dynamicgraph::Signal< dg::Vector, int > | previousControlSOUT |
| dynamicgraph::Signal< dg::Vector, int > | ZMPPreviousControllerSOUT |
| The ZMP reference send by the previous controller. More... | |
| dynamicgraph::Signal< dg::Vector, int > | robotState_ |
| dynamicgraph::Signal< dg::Vector, int > | robotVelocity_ |
| Motor velocities. More... | |
| dynamicgraph::Signal< dg::Vector, int > * | forcesSOUT [4] |
| The force torque sensors. More... | |
| dynamicgraph::Signal< dg::Vector, int > | pseudoTorqueSOUT |
| Motor torques. More... | |
| Protected Member Functions inherited from dynamicgraph::sot::Device | |
| void | integrateRollPitchYaw (dg::Vector &state, const dg::Vector &control, double dt) |
| Compute roll pitch yaw angles of freeflyer joint. More... | |
| virtual void | integrate (const double &dt) |
| Compute the new position, from the current control. More... | |
| const MatrixHomogeneous & | freeFlyerPose () const |
| Get freeflyer pose. More... | |
| Protected Attributes inherited from dynamicgraph::sot::Device | |
| dg::Vector | state_ |
| dg::Vector | velocity_ |
| bool | sanityCheck_ |
| dg::Vector | vel_control_ |
| ControlInput | controlInputType_ |
| bool | withForceSignals [4] |
| PeriodicCall | periodicCallBefore_ |
| PeriodicCall | periodicCallAfter_ |
| double | timestep_ |
| MatrixHomogeneous | ffPose_ |
| Store Position of free flyer joint. More... | |
| Vector | upperPosition_ |
| Vector | upperVelocity_ |
| Vector | upperTorque_ |
| Vector | lowerPosition_ |
| Vector | lowerVelocity_ |
| Vector | lowerTorque_ |
Constructor & Destructor Documentation
◆ RobotSimu()
| dynamicgraph::sot::RobotSimu::RobotSimu | ( | const std::string & | inName | ) |
Member Function Documentation
◆ getClassName()
|
inlinevirtual |
Reimplemented from dynamicgraph::sot::Device.
Member Data Documentation
◆ CLASS_NAME
|
static |
