dynamicgraph::sot::SotLoader Class Reference

This class is loading the control part of the Stack-Of-Tasks. More...

#include <sot/core/sot-loader.hh>

Public Member Functions
	SotLoader ()
	Default constructor. More...
	~SotLoader ()
	Default destructor. More...
int	parseOptions (int argc, char *argv[])
	Read user input to extract the path of the SoT dynamic library. More...
bool	initialization ()
	Prepare the SoT framework. More...
void	cleanUp ()
	Unload the library which handles the robot device. More...
bool	isDynamicGraphStopped ()
	Get Status of dg. More...
void	startDG ()
	Get Status of dg. More...
void	stopDG ()
	Get Status of dg. More...
void	setDynamicLibraryName (std::string &afilename)
	Specify the name of the dynamic library. More...
void	runPythonCommand (const std::string &command, std::string &result, std::string &out, std::string &err)
	Run a python command inside the embeded python interpreter. More...
void	runPythonFile (std::string ifilename, std::string &err)
	Run a python script inside the embeded python interpreter. More...
void	runPythonFile (std::string ifilename)
	Run a python script inside the embeded python interpreter. More...
void	oneIteration (std::map< std::string, SensorValues > &sensors_in, std::map< std::string, ControlValues > &control_values)
	Compute one iteration of control. Basically executes fillSensors, the SoT and the readControl. More...
void	loadDeviceInPython (const std::string &device_name)
	Load the Device entity in the python global scope. More...

Protected Attributes
bool	dynamic_graph_stopped_
	Check if the dynamic graph is running or not. More...
AbstractSotExternalInterface *	sot_external_interface_
	The interface between the device and the robot driver. More...
std::string	sot_dynamic_library_filename_
	Name of the dynamic library containing the dgs::AbstractSotExternalInterface object. More...
void *	sot_dynamic_library_
	Handle on the SoT library. More...
python::Interpreter	embeded_python_interpreter_
	Embeded python interpreter. More...
std::map< std::string, SensorValues >	sensors_in_
	Map of sensor readings. More...
std::map< std::string, ControlValues >	control_values_
	Map of control values. More...
std::string	device_name_
	Device entity created and loaded, so we deregister it as the Pool is not responsible for it's life time. More...

Detailed Description

This class is loading the control part of the Stack-Of-Tasks.

• 1/ It loads dynamically the graph interface.
• 2/ It loads the python interpreter.
• 3/ It loads the Device entity C++ pointer inside the python interpreter.
• 4/ It provides the user interface to the graph:
  • 4.1/ starts and stop the graph executtion.
  • 4.2/ run a python command/script inside the embeded python interpreter.
  • 4.3/ execute one iteration of the graph.

In order to Use this class you need to provide a dynamic library containing an implementation of the AbstractSotExternalInterface class.

Then you can either inherite from this class an initialize and use the sensors_in_ and control_values_ objects. Or you can create you own outside of this class. And then use the oneIteration to execute the graph.

Constructor & Destructor Documentation

SotLoader()

dynamicgraph::sot::SotLoader::SotLoader

(

)

Default constructor.

~SotLoader()

dynamicgraph::sot::SotLoader::~SotLoader

(

)

Default destructor.

Member Function Documentation

cleanUp()

void dynamicgraph::sot::SotLoader::cleanUp

(

)

Unload the library which handles the robot device.

initialization()

bool dynamicgraph::sot::SotLoader::initialization

(

)

Prepare the SoT framework.

isDynamicGraphStopped()

bool dynamicgraph::sot::SotLoader::isDynamicGraphStopped ( )

inline

Get Status of dg.

loadDeviceInPython()

void dynamicgraph::sot::SotLoader::loadDeviceInPython

(

const std::string &

device_name

)

Load the Device entity in the python global scope.

oneIteration()

void dynamicgraph::sot::SotLoader::oneIteration	(	std::map< std::string, SensorValues > &	sensors_in,
		std::map< std::string, ControlValues > &	control_values
	)

Compute one iteration of control. Basically executes fillSensors, the SoT and the readControl.

parseOptions()

int dynamicgraph::sot::SotLoader::parseOptions	(	int	argc,
		char *	argv[]
	)

Read user input to extract the path of the SoT dynamic library.

runPythonCommand()

void dynamicgraph::sot::SotLoader::runPythonCommand	(	const std::string &	command,
		std::string &	result,
		std::string &	out,
		std::string &	err
	)

Run a python command inside the embeded python interpreter.

runPythonFile() [1/2]

void dynamicgraph::sot::SotLoader::runPythonFile ( std::string  ifilename )

inline

Run a python script inside the embeded python interpreter.

runPythonFile() [2/2]

void dynamicgraph::sot::SotLoader::runPythonFile ( std::string  ifilename, std::string &  err  )

inline

Run a python script inside the embeded python interpreter.

setDynamicLibraryName()

void dynamicgraph::sot::SotLoader::setDynamicLibraryName ( std::string &  afilename )

inline

Specify the name of the dynamic library.

startDG()

void dynamicgraph::sot::SotLoader::startDG ( )

inline

Get Status of dg.

stopDG()

void dynamicgraph::sot::SotLoader::stopDG ( )

inline

Get Status of dg.

Member Data Documentation

control_values_

std::map<std::string, ControlValues> dynamicgraph::sot::SotLoader::control_values_

protected

Map of control values.

device_name_

std::string dynamicgraph::sot::SotLoader::device_name_

protected

Device entity created and loaded, so we deregister it as the Pool is not responsible for it's life time.

dynamic_graph_stopped_

bool dynamicgraph::sot::SotLoader::dynamic_graph_stopped_

protected

Check if the dynamic graph is running or not.

embeded_python_interpreter_

python::Interpreter dynamicgraph::sot::SotLoader::embeded_python_interpreter_

protected

Embeded python interpreter.

sensors_in_

std::map<std::string, SensorValues> dynamicgraph::sot::SotLoader::sensors_in_

protected

Map of sensor readings.

sot_dynamic_library_

void* dynamicgraph::sot::SotLoader::sot_dynamic_library_

protected

Handle on the SoT library.

sot_dynamic_library_filename_

std::string dynamicgraph::sot::SotLoader::sot_dynamic_library_filename_

protected

Name of the dynamic library containing the dgs::AbstractSotExternalInterface object.

sot_external_interface_

AbstractSotExternalInterface* dynamicgraph::sot::SotLoader::sot_external_interface_

protected

The interface between the device and the robot driver.

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

• include/sot/core/sot-loader.hh