SoTTalosController Class Reference

#include <sot-talos-controller.hh>

Inheritance diagram for SoTTalosController:

Collaboration diagram for SoTTalosController:

Public Member Functions
	SoTTalosController ()
	SoTTalosController (const char robotName[])
	SoTTalosController (std::string robotName)
virtual	~SoTTalosController ()
void	setupSetSensors (std::map< std::string, dgsot::SensorValues > &sensorsIn)
void	nominalSetSensors (std::map< std::string, dgsot::SensorValues > &sensorsIn)
void	cleanupSetSensors (std::map< std::string, dgsot::SensorValues > &sensorsIn)
void	getControl (std::map< std::string, dgsot::ControlValues > &anglesOut)
void	setNoIntegration (void)
void	setSecondOrderIntegration (void)

Public Attributes
boost::shared_ptr< dynamicgraph::Interpreter >	interpreter_
	Embedded python interpreter accessible via Corba/ros. More...
boost::shared_ptr< ros::NodeHandle >	nh_
boost::shared_ptr< ros::AsyncSpinner >	spinner_

Static Public Attributes
static const std::string	LOG_PYTHON

Protected Member Functions
void	updateRobotState (std::vector< double > &anglesIn)
void	runPython (std::ostream &file, const std::string &command, dynamicgraph::Interpreter &interpreter)
	Run a python command. More...
virtual void	startupPython ()
void	init ()

Protected Attributes
SoTTalosDevice *	device_

Constructor & Destructor Documentation

SoTTalosController() [1/3]

SoTTalosController::SoTTalosController

(

)

SoTTalosController() [2/3]

SoTTalosController::SoTTalosController

(

const char

robotName[]

)

SoTTalosController() [3/3]

SoTTalosController::SoTTalosController

(

std::string

robotName

)

~SoTTalosController()

SoTTalosController::~SoTTalosController ( )

virtual

Member Function Documentation

cleanupSetSensors()

void SoTTalosController::cleanupSetSensors

(

std::map< std::string, dgsot::SensorValues > &

sensorsIn

)

getControl()

void SoTTalosController::getControl

(

std::map< std::string, dgsot::ControlValues > &

anglesOut

)

init()

void SoTTalosController::init ( )

protected

nominalSetSensors()

void SoTTalosController::nominalSetSensors

(

std::map< std::string, dgsot::SensorValues > &

sensorsIn

)

runPython()

void SoTTalosController::runPython ( std::ostream &  file, const std::string &  command, dynamicgraph::Interpreter &  interpreter  )

protected

Run a python command.

setNoIntegration()

void SoTTalosController::setNoIntegration

(

void

)

setSecondOrderIntegration()

void SoTTalosController::setSecondOrderIntegration

(

void

)

setupSetSensors()

void SoTTalosController::setupSetSensors

(

std::map< std::string, dgsot::SensorValues > &

sensorsIn

)

startupPython()

void SoTTalosController::startupPython ( )

protectedvirtual

Reimplemented in SoTPyreneController.

updateRobotState()

void SoTTalosController::updateRobotState ( std::vector< double > &  anglesIn )

protected

Member Data Documentation

device_

SoTTalosDevice* SoTTalosController::device_

protected

interpreter_

boost::shared_ptr<dynamicgraph::Interpreter> SoTTalosController::interpreter_

Embedded python interpreter accessible via Corba/ros.

LOG_PYTHON

const std::string SoTTalosController::LOG_PYTHON

static

Initial value:

=
    "/tmp/TalosController_python.out"

nh_

boost::shared_ptr<ros::NodeHandle> SoTTalosController::nh_

spinner_

boost::shared_ptr<ros::AsyncSpinner> SoTTalosController::spinner_

---

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

• src/sot-talos-controller.hh
• src/sot-talos-controller.cpp