dynamicgraph::sot::Device Class Reference

#include <sot/core/device.hh>

Inheritance diagram for dynamicgraph::sot::Device:

Public Types
enum	ForceSignalSource { FORCE_SIGNAL_RLEG , FORCE_SIGNAL_LLEG , FORCE_SIGNAL_RARM , FORCE_SIGNAL_LARM }

Public Member Functions
virtual const std::string &	getClassName (void) const
	Device (const std::string &name)
virtual	~Device ()
virtual void	setStateSize (const unsigned int &size)
virtual void	setState (const dynamicgraph::Vector &st)
void	setVelocitySize (const unsigned int &size)
virtual void	setVelocity (const dynamicgraph::Vector &vel)
virtual void	setSecondOrderIntegration ()
virtual void	setNoIntegration ()
virtual void	setControlInputType (const std::string &cit)
virtual void	increment (const double &dt=5e-2)
PeriodicCall &	periodicCallBefore ()
PeriodicCall &	periodicCallAfter ()
virtual void	display (std::ostream &os) const
virtual void	cmdDisplay ()
virtual void	setRoot (const dynamicgraph::Matrix &root)
virtual void	setRoot (const MatrixHomogeneous &worldMwaist)
Sanity check parameterization
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)

Public Attributes
dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	controlSIN
dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	attitudeSIN
dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	zmpSIN
Device current state.
dynamicgraph::Signal< dynamicgraph::Vector, int >	stateSOUT
dynamicgraph::Signal< dynamicgraph::Vector, int >	velocitySOUT
dynamicgraph::Signal< MatrixRotation, int >	attitudeSOUT
dynamicgraph::Signal< dynamicgraph::Vector, int >	motorcontrolSOUT
	The current state of the robot from the command viewpoint. More...
dynamicgraph::Signal< dynamicgraph::Vector, int >	previousControlSOUT
dynamicgraph::Signal< dynamicgraph::Vector, int >	ZMPPreviousControllerSOUT
	The ZMP reference send by the previous controller. More...
Real robot current state
This corresponds to the real encoders values and take into account the stabilization step. Therefore, this usually does not match the state control input signal. Motor positions
dynamicgraph::Signal< dynamicgraph::Vector, int >	robotState_
dynamicgraph::Signal< dynamicgraph::Vector, int >	robotVelocity_
	Motor velocities. More...
dynamicgraph::Signal< dynamicgraph::Vector, int > *	forcesSOUT [4]
	The force torque sensors. More...
dynamicgraph::Signal< dynamicgraph::Vector, int >	pseudoTorqueSOUT

Static Public Attributes
static const std::string	CLASS_NAME

Protected Member Functions
void	integrateRollPitchYaw (dynamicgraph::Vector &state, const dynamicgraph::Vector &control, double dt)
	Compute roll pitch yaw angles of freeflyer joint. More...
virtual void	integrate (const double &dt)
const MatrixHomogeneous &	freeFlyerPose () const
	Get freeflyer pose. More...

Protected Attributes
dynamicgraph::Vector	state_
dynamicgraph::Vector	velocity_
bool	sanityCheck_
dynamicgraph::Vector	vel_control_
ControlInput	controlInputType_
bool	withForceSignals [4]
PeriodicCall	periodicCallBefore_
PeriodicCall	periodicCallAfter_
double	timestep_
MatrixHomogeneous	ffPose_
	Store Position of free flyer joint. More...
Robot bounds used for sanity checks
Vector	upperPosition_
Vector	upperVelocity_
Vector	upperTorque_
Vector	lowerPosition_
Vector	lowerVelocity_
Vector	lowerTorque_

Friends
SOT_CORE_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Device &r)

Member Enumeration Documentation

ForceSignalSource

enum dynamicgraph::sot::Device::ForceSignalSource

Enumerator
FORCE_SIGNAL_RLEG
FORCE_SIGNAL_LLEG
FORCE_SIGNAL_RARM
FORCE_SIGNAL_LARM

Constructor & Destructor Documentation

Device()

dynamicgraph::sot::Device::Device

(

const std::string &

name

)

~Device()

virtual dynamicgraph::sot::Device::~Device ( )

virtual

Member Function Documentation

cmdDisplay()

virtual void dynamicgraph::sot::Device::cmdDisplay ( )

virtual

display()

virtual void dynamicgraph::sot::Device::display ( std::ostream &  os ) const

virtual

freeFlyerPose()

const MatrixHomogeneous& dynamicgraph::sot::Device::freeFlyerPose ( ) const

protected

Get freeflyer pose.

getClassName()

virtual const std::string& dynamicgraph::sot::Device::getClassName ( void  ) const

inlinevirtual

Reimplemented in dynamicgraph::sot::RobotSimu.

increment()

virtual void dynamicgraph::sot::Device::increment ( const double &  dt = 5e-2 )

virtual

integrate()

virtual void dynamicgraph::sot::Device::integrate ( const double &  dt )

protectedvirtual

Compute the new position, from the current control.

When sanity checks are enabled, this checks that the control is within bounds. There are three cases, depending on what the control is:

• position: checks that the position is within bounds,
• velocity: checks that the velocity and the future position are within bounds,
• acceleration: checks that the acceleration, the future velocity and position are within bounds.

  Todo:

  in order to check the acceleration, we need pinocchio and the contact forces in order to estimate the joint torques for the given acceleration.

integrateRollPitchYaw()

void dynamicgraph::sot::Device::integrateRollPitchYaw ( dynamicgraph::Vector &  state, const dynamicgraph::Vector &  control, double  dt  )

protected

Compute roll pitch yaw angles of freeflyer joint.

periodicCallAfter()

PeriodicCall& dynamicgraph::sot::Device::periodicCallAfter ( )

inline

periodicCallBefore()

PeriodicCall& dynamicgraph::sot::Device::periodicCallBefore ( )

inline

setControlInputType()

virtual void dynamicgraph::sot::Device::setControlInputType ( const std::string &  cit )

virtual

setNoIntegration()

virtual void dynamicgraph::sot::Device::setNoIntegration ( )

virtual

setPositionBounds()

void dynamicgraph::sot::Device::setPositionBounds	(	const Vector &	lower,
		const Vector &	upper
	)

setRoot() [1/2]

virtual void dynamicgraph::sot::Device::setRoot ( const dynamicgraph::Matrix &  root )

virtual

setRoot() [2/2]

virtual void dynamicgraph::sot::Device::setRoot ( const MatrixHomogeneous &  worldMwaist )

virtual

setSanityCheck()

void dynamicgraph::sot::Device::setSanityCheck

(

const bool &

enableCheck

)

setSecondOrderIntegration()

virtual void dynamicgraph::sot::Device::setSecondOrderIntegration ( )

virtual

setState()

virtual void dynamicgraph::sot::Device::setState ( const dynamicgraph::Vector &  st )

virtual

setStateSize()

virtual void dynamicgraph::sot::Device::setStateSize ( const unsigned int &  size )

virtual

setTorqueBounds()

void dynamicgraph::sot::Device::setTorqueBounds	(	const Vector &	lower,
		const Vector &	upper
	)

setVelocity()

virtual void dynamicgraph::sot::Device::setVelocity ( const dynamicgraph::Vector &  vel )

virtual

setVelocityBounds()

void dynamicgraph::sot::Device::setVelocityBounds	(	const Vector &	lower,
		const Vector &	upper
	)

setVelocitySize()

void dynamicgraph::sot::Device::setVelocitySize

(

const unsigned int &

size

)

Friends And Related Function Documentation

operator<<

SOT_CORE_EXPORT friend std::ostream& operator<< ( std::ostream &  os, const Device &  r  )

friend

Member Data Documentation

attitudeSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::Device::attitudeSIN

attitudeSOUT

dynamicgraph::Signal<MatrixRotation, int> dynamicgraph::sot::Device::attitudeSOUT

CLASS_NAME

const std::string dynamicgraph::sot::Device::CLASS_NAME

static

controlInputType_

ControlInput dynamicgraph::sot::Device::controlInputType_

protected

controlSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::Device::controlSIN

ffPose_

MatrixHomogeneous dynamicgraph::sot::Device::ffPose_

protected

Store Position of free flyer joint.

forcesSOUT

dynamicgraph::Signal<dynamicgraph::Vector, int>* dynamicgraph::sot::Device::forcesSOUT[4]

The force torque sensors.

lowerPosition_

Vector dynamicgraph::sot::Device::lowerPosition_

protected

lowerTorque_

Vector dynamicgraph::sot::Device::lowerTorque_

protected

lowerVelocity_

Vector dynamicgraph::sot::Device::lowerVelocity_

protected

motorcontrolSOUT

dynamicgraph::Signal<dynamicgraph::Vector, int> dynamicgraph::sot::Device::motorcontrolSOUT

The current state of the robot from the command viewpoint.

periodicCallAfter_

PeriodicCall dynamicgraph::sot::Device::periodicCallAfter_

protected

periodicCallBefore_

PeriodicCall dynamicgraph::sot::Device::periodicCallBefore_

protected

previousControlSOUT

dynamicgraph::Signal<dynamicgraph::Vector, int> dynamicgraph::sot::Device::previousControlSOUT

pseudoTorqueSOUT

dynamicgraph::Signal<dynamicgraph::Vector, int> dynamicgraph::sot::Device::pseudoTorqueSOUT

Motor torques

Todo:

why pseudo ?

robotState_

dynamicgraph::Signal<dynamicgraph::Vector, int> dynamicgraph::sot::Device::robotState_

robotVelocity_

dynamicgraph::Signal<dynamicgraph::Vector, int> dynamicgraph::sot::Device::robotVelocity_

Motor velocities.

sanityCheck_

bool dynamicgraph::sot::Device::sanityCheck_

protected

state_

dynamicgraph::Vector dynamicgraph::sot::Device::state_

protected

stateSOUT

dynamicgraph::Signal<dynamicgraph::Vector, int> dynamicgraph::sot::Device::stateSOUT

timestep_

double dynamicgraph::sot::Device::timestep_

protected

upperPosition_

Vector dynamicgraph::sot::Device::upperPosition_

protected

upperTorque_

Vector dynamicgraph::sot::Device::upperTorque_

protected

upperVelocity_

Vector dynamicgraph::sot::Device::upperVelocity_

protected

vel_control_

dynamicgraph::Vector dynamicgraph::sot::Device::vel_control_

protected

velocity_

dynamicgraph::Vector dynamicgraph::sot::Device::velocity_

protected

velocitySOUT

dynamicgraph::Signal<dynamicgraph::Vector, int> dynamicgraph::sot::Device::velocitySOUT

withForceSignals

bool dynamicgraph::sot::Device::withForceSignals[4]

protected

ZMPPreviousControllerSOUT

dynamicgraph::Signal<dynamicgraph::Vector, int> dynamicgraph::sot::Device::ZMPPreviousControllerSOUT

The ZMP reference send by the previous controller.

zmpSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::Device::zmpSIN

---

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

• include/sot/core/device.hh