SoTTalosDevice Class Reference

#include <sot-talos-device.hh>

Inheritance diagram for SoTTalosDevice:

Collaboration diagram for SoTTalosDevice:

Public Member Functions
virtual const std::string &	getClassName () const
	SoTTalosDevice (std::string RobotName)
virtual	~SoTTalosDevice ()
void	setSensors (std::map< std::string, dgsot::SensorValues > &sensorsIn)
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	timeStep (double ts)

Static Public Attributes
static const std::string	CLASS_NAME
static const double	TIMESTEP_DEFAULT = 0.001

Protected Member Functions
void	setSensorsForce (std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
	Protected methods for internal variables filling. More...
void	setSensorsIMU (std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
void	setSensorsEncoders (std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
void	setSensorsVelocities (std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
void	setSensorsTorquesCurrents (std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)
void	setSensorsGains (std::map< std::string, dgsot::SensorValues > &SensorsIn, int t)

Protected Attributes
dg::Vector	previousState_
	Previous robot configuration. More...
std::vector< double >	baseff_
	Intermediate variables to avoid allocation during control. More...
dynamicgraph::Signal< dg::Vector, int >	accelerometerSOUT_
	Accelerations measured by accelerometers. More...
dynamicgraph::Signal< dg::Vector, int >	gyrometerSOUT_
	Rotation velocity measured by gyrometers. More...
dynamicgraph::Signal< dg::Vector, int >	currentsSOUT_
	motor currents More...
dynamicgraph::Signal< dg::Vector, int >	joint_anglesSOUT_
	joint angles More...
dynamicgraph::Signal< dg::Vector, int >	motor_anglesSOUT_
	motor angles More...
dynamicgraph::Signal< dg::Vector, int >	p_gainsSOUT_
	proportional and derivative position-control gains More...
dynamicgraph::Signal< dg::Vector, int >	d_gainsSOUT_
dg::Vector	dgforces_
	Intermediate variables to avoid allocation during control. More...
dg::Vector	dgRobotState_
dg::Vector	joint_angles_
dg::Vector	motor_angles_
dg::Vector	dgRobotVelocity_
dg::Vector	velocities_
dgsot::MatrixRotation	pose
dg::Vector	accelerometer_
dg::Vector	gyrometer_
dg::Vector	torques_
dg::Vector	currents_
dg::Vector	p_gains_
dg::Vector	d_gains_

Constructor & Destructor Documentation

SoTTalosDevice()

SoTTalosDevice::SoTTalosDevice

(

std::string

RobotName

)

~SoTTalosDevice()

SoTTalosDevice::~SoTTalosDevice ( )

virtual

Member Function Documentation

cleanupSetSensors()

void SoTTalosDevice::cleanupSetSensors

(

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

sensorsIn

)

getClassName()

virtual const std::string& SoTTalosDevice::getClassName ( ) const

inlinevirtual

getControl()

void SoTTalosDevice::getControl

(

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

anglesOut

)

nominalSetSensors()

void SoTTalosDevice::nominalSetSensors

(

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

sensorsIn

)

setSensors()

void SoTTalosDevice::setSensors

(

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

sensorsIn

)

setSensorsEncoders()

void SoTTalosDevice::setSensorsEncoders ( std::map< std::string, dgsot::SensorValues > &  SensorsIn, int  t  )

protected

setSensorsForce()

void SoTTalosDevice::setSensorsForce ( std::map< std::string, dgsot::SensorValues > &  SensorsIn, int  t  )

protected

Protected methods for internal variables filling.

setSensorsGains()

void SoTTalosDevice::setSensorsGains ( std::map< std::string, dgsot::SensorValues > &  SensorsIn, int  t  )

protected

setSensorsIMU()

void SoTTalosDevice::setSensorsIMU ( std::map< std::string, dgsot::SensorValues > &  SensorsIn, int  t  )

protected

setSensorsTorquesCurrents()

void SoTTalosDevice::setSensorsTorquesCurrents ( std::map< std::string, dgsot::SensorValues > &  SensorsIn, int  t  )

protected

setSensorsVelocities()

void SoTTalosDevice::setSensorsVelocities ( std::map< std::string, dgsot::SensorValues > &  SensorsIn, int  t  )

protected

setupSetSensors()

void SoTTalosDevice::setupSetSensors

(

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

sensorsIn

)

timeStep()

void SoTTalosDevice::timeStep ( double  ts )

inline

Member Data Documentation

accelerometer_

dg::Vector SoTTalosDevice::accelerometer_

protected

accelerometerSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::accelerometerSOUT_

protected

Accelerations measured by accelerometers.

baseff_

std::vector<double> SoTTalosDevice::baseff_

protected

Intermediate variables to avoid allocation during control.

CLASS_NAME

const std::string SoTTalosDevice::CLASS_NAME

static

currents_

dg::Vector SoTTalosDevice::currents_

protected

currentsSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::currentsSOUT_

protected

motor currents

d_gains_

dg::Vector SoTTalosDevice::d_gains_

protected

d_gainsSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::d_gainsSOUT_

protected

dgforces_

dg::Vector SoTTalosDevice::dgforces_

protected

Intermediate variables to avoid allocation during control.

dgRobotState_

dg::Vector SoTTalosDevice::dgRobotState_

protected

dgRobotVelocity_

dg::Vector SoTTalosDevice::dgRobotVelocity_

protected

gyrometer_

dg::Vector SoTTalosDevice::gyrometer_

protected

gyrometerSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::gyrometerSOUT_

protected

Rotation velocity measured by gyrometers.

joint_angles_

dg::Vector SoTTalosDevice::joint_angles_

protected

joint_anglesSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::joint_anglesSOUT_

protected

joint angles

motor_angles_

dg::Vector SoTTalosDevice::motor_angles_

protected

motor_anglesSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::motor_anglesSOUT_

protected

motor angles

p_gains_

dg::Vector SoTTalosDevice::p_gains_

protected

p_gainsSOUT_

dynamicgraph::Signal<dg::Vector, int> SoTTalosDevice::p_gainsSOUT_

protected

proportional and derivative position-control gains

pose

dgsot::MatrixRotation SoTTalosDevice::pose

protected

previousState_

dg::Vector SoTTalosDevice::previousState_

protected

Previous robot configuration.

TIMESTEP_DEFAULT

const double SoTTalosDevice::TIMESTEP_DEFAULT = 0.001

static

torques_

dg::Vector SoTTalosDevice::torques_

protected

velocities_

dg::Vector SoTTalosDevice::velocities_

protected

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

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