dynamicgraph::sot::ParameterServer Class Reference

#include <sot/core/parameter-server.hh>

Inheritance diagram for dynamicgraph::sot::ParameterServer:

Public Member Functions
	ParameterServer (const std::string &name)
	~ParameterServer ()
void	init (const double &dt, const std::string &urdfFile, const std::string &robotRef)
void	init_simple (const double &dt)
void	setNameToId (const std::string &jointName, const double &jointId)
	Commands related to joint name and joint id. More...
void	setJointLimitsFromId (const double &jointId, const double &lq, const double &uq)
void	setForceLimitsFromId (const double &jointId, const dynamicgraph::Vector &lq, const dynamicgraph::Vector &uq)
	Command related to ForceUtil. More...
void	setForceNameToForceId (const std::string &forceName, const double &forceId)
void	setJoints (const dynamicgraph::Vector &)
virtual void	display (std::ostream &os) const
Commands related to FootUtil
void	setRightFootSoleXYZ (const dynamicgraph::Vector &)
void	setRightFootForceSensorXYZ (const dynamicgraph::Vector &)
void	setFootFrameName (const std::string &, const std::string &)
void	setHandFrameName (const std::string &, const std::string &)
void	setImuJointName (const std::string &)
void	displayRobotUtil ()
Commands related to the model
template<typename Type >
void	setParameter (const std::string &ParameterName, const Type &ParameterValue)
template<typename Type >
Type	getParameter (const std::string &ParameterName)

Protected Member Functions
bool	convertJointNameToJointId (const std::string &name, unsigned int &id)
bool	isJointInRange (unsigned int id, double q)
void	updateJointCtrlModesOutputSignal ()

Protected Attributes
RobotUtilShrPtr	m_robot_util
bool	m_initSucceeded
double	m_dt
	true if the entity has been successfully initialized More...
bool	m_emergency_stop_triggered
	control loop time period More...
bool	m_is_first_iter
int	m_iter
	true at the first iteration, false otherwise More...
double	m_sleep_time

Constructor & Destructor Documentation

ParameterServer()

dynamicgraph::sot::ParameterServer::ParameterServer

(

const std::string &

name

)

~ParameterServer()

dynamicgraph::sot::ParameterServer::~ParameterServer ( )

inline

Member Function Documentation

convertJointNameToJointId()

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

protected

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

display()

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

virtual

displayRobotUtil()

void dynamicgraph::sot::ParameterServer::displayRobotUtil

(

)

getParameter()

template<typename Type >

Type dynamicgraph::sot::ParameterServer::getParameter ( const std::string &  ParameterName )

inline

init()

void dynamicgraph::sot::ParameterServer::init	(	const double &	dt,
		const std::string &	urdfFile,
		const std::string &	robotRef
	)

Initialize

Parameters

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

init_simple()

void dynamicgraph::sot::ParameterServer::init_simple

(

const double &

dt

)

Initialize

Parameters

dt	control interval provided by the device. The urdf model is found by reading /robot_description The robot name is found using the name inside robot_description

isJointInRange()

bool dynamicgraph::sot::ParameterServer::isJointInRange ( unsigned int  id, double  q  )

protected

setFootFrameName()

void dynamicgraph::sot::ParameterServer::setFootFrameName	(	const std::string &	,
		const std::string &
	)

setForceLimitsFromId()

void dynamicgraph::sot::ParameterServer::setForceLimitsFromId	(	const double &	jointId,
		const dynamicgraph::Vector &	lq,
		const dynamicgraph::Vector &	uq
	)

Command related to ForceUtil.

setForceNameToForceId()

void dynamicgraph::sot::ParameterServer::setForceNameToForceId	(	const std::string &	forceName,
		const double &	forceId
	)

setHandFrameName()

void dynamicgraph::sot::ParameterServer::setHandFrameName	(	const std::string &	,
		const std::string &
	)

setImuJointName()

void dynamicgraph::sot::ParameterServer::setImuJointName

(

const std::string &

)

setJointLimitsFromId()

void dynamicgraph::sot::ParameterServer::setJointLimitsFromId	(	const double &	jointId,
		const double &	lq,
		const double &	uq
	)

setJoints()

void dynamicgraph::sot::ParameterServer::setJoints

(

const dynamicgraph::Vector &

)

Set the mapping between urdf and sot.

setNameToId()

void dynamicgraph::sot::ParameterServer::setNameToId	(	const std::string &	jointName,
		const double &	jointId
	)

Commands related to joint name and joint id.

setParameter()

template<typename Type >

void dynamicgraph::sot::ParameterServer::setParameter ( const std::string &  ParameterName, const Type &  ParameterValue  )

inline

setRightFootForceSensorXYZ()

void dynamicgraph::sot::ParameterServer::setRightFootForceSensorXYZ

(

const dynamicgraph::Vector &

)

setRightFootSoleXYZ()

void dynamicgraph::sot::ParameterServer::setRightFootSoleXYZ

(

const dynamicgraph::Vector &

)

updateJointCtrlModesOutputSignal()

void dynamicgraph::sot::ParameterServer::updateJointCtrlModesOutputSignal ( )

protected

Member Data Documentation

m_dt

double dynamicgraph::sot::ParameterServer::m_dt

protected

true if the entity has been successfully initialized

m_emergency_stop_triggered

bool dynamicgraph::sot::ParameterServer::m_emergency_stop_triggered

protected

control loop time period

m_initSucceeded

bool dynamicgraph::sot::ParameterServer::m_initSucceeded

protected

m_is_first_iter

bool dynamicgraph::sot::ParameterServer::m_is_first_iter

protected

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

m_iter

int dynamicgraph::sot::ParameterServer::m_iter

protected

true at the first iteration, false otherwise

m_robot_util

RobotUtilShrPtr dynamicgraph::sot::ParameterServer::m_robot_util

protected

m_sleep_time

double dynamicgraph::sot::ParameterServer::m_sleep_time

protected

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

• include/sot/core/parameter-server.hh