Defines |
| #define | CHECK_ACCELEROMETER_ID(id) if ((id) < 0 || (id) >= number_of_accelerometers()) return E_ID |
| #define | CHECK_ATTITUDE_SENSOR_ID(id) if ((id) < 0 || (id) >= number_of_attitude_sensors()) return E_ID |
| #define | CHECK_FORCE_SENSOR_ID(id) if ((id) < 0 || (id) >= number_of_force_sensors()) return E_ID |
| #define | CHECK_GYRO_SENSOR_ID(id) if ((id) < 0 || (id) >= number_of_gyro_sensors()) return E_ID |
| #define | CHECK_JOINT_ID(id) if ((id) < 0 || (id) >= number_of_joints()) return E_ID |
| #define | JOINT_ID_MODEL2REAL(id) joint_id_model2real(id) |
| #define | JOINT_ID_REAL2MODEL(id) joint_real2model_vec[id] |
| #define | NUM_OF_REAL_JOINT (joint_real2model_vec.size()) |
| #define | USE_SERVO_ON 0 |
Typedefs |
typedef
hrpsys_gazebo_msgs::JointCommand | JointCommand |
typedef
hrpsys_gazebo_msgs::RobotState | RobotState |
Functions |
| int | close_iob (void) |
| long | get_signal_period () |
| int | initializeJointAngle (const char *name, const char *option) |
| int | joint_calibration (int id, double angle) |
| static int | joint_id_model2real (int id) |
| int | length_digital_input (void) |
| int | length_digital_output (void) |
| size_t | length_of_extra_servo_state (int id) |
| int | lock_iob () |
| int | number_of_accelerometers () |
| int | number_of_attitude_sensors () |
| int | number_of_force_sensors () |
| int | number_of_gyro_sensors () |
| int | number_of_joints () |
| int | number_of_substeps () |
| int | open_iob (void) |
| int | read_accelerometer (int id, double *accels) |
| int | read_accelerometer_offset (int id, double *offset) |
| int | read_actual_angle (int id, double *angle) |
| int | read_actual_angles (double *angles) |
| int | read_actual_torques (double *torques) |
| int | read_actual_velocities (double *vels) |
| int | read_actual_velocity (int id, double *vel) |
| int | read_angle_offset (int id, double *angle) |
| int | read_attitude_sensor (int id, double *att) |
| int | read_calib_state (int id, int *s) |
| int | read_command_angle (int id, double *angle) |
| int | read_command_angles (double *angles) |
| int | read_command_torque (int id, double *torque) |
| int | read_command_torques (double *torques) |
| int | read_command_velocities (double *vels) |
| int | read_command_velocity (int id, double *vel) |
| int | read_control_mode (int id, joint_control_mode *s) |
| int | read_current (int id, double *mcurrent) |
| int | read_current_limit (int id, double *v) |
| int | read_currents (double *currents) |
| int | read_dgain (int id, double *gain) |
| int | read_digital_input (char *dinput) |
| int | read_digital_output (char *doutput) |
| int | read_driver_temperature (int id, unsigned char *v) |
| int | read_encoder_pulse (int id, double *ec) |
| int | read_extra_servo_state (int id, int *state) |
| int | read_force_offset (int id, double *offsets) |
| int | read_force_sensor (int id, double *forces) |
| int | read_gauges (double *gauges) |
| int | read_gear_ratio (int id, double *gr) |
| int | read_gyro_sensor (int id, double *rates) |
| int | read_gyro_sensor_offset (int id, double *offset) |
| unsigned long long | read_iob_frame () |
| int | read_limit_angle (int id, double *angle) |
| int | read_llimit_angle (int id, double *angle) |
| int | read_lock_owner (pid_t *pid) |
| int | read_pgain (int id, double *gain) |
| int | read_power (double *voltage, double *current) |
| int | read_power_command (int id, int *com) |
| int | read_power_state (int id, int *s) |
| int | read_servo_alarm (int id, int *a) |
| int | read_servo_state (int id, int *s) |
| int | read_temperature (int id, double *v) |
| int | read_torque_const (int id, double *tc) |
| int | read_torque_limit (int id, double *limit) |
| int | read_touch_sensors (unsigned short *onoff) |
| int | read_ulimit_angle (int id, double *angle) |
| int | reset_body (void) |
| int | set_number_of_accelerometers (int num) |
| int | set_number_of_attitude_sensors (int num) |
| int | set_number_of_force_sensors (int num) |
| int | set_number_of_gyro_sensors (int num) |
| int | set_number_of_joints (int num) |
| int | set_signal_period (long period_ns) |
| static void | setJointStates (const RobotState::ConstPtr &_js) |
| static void | tick_service_command () |
| void | timespec_add_ns (timespec *ts, long ns) |
| double | timespec_compare (timespec *ts1, timespec *ts2) |
| int | unlock_iob () |
| int | wait_for_iob_signal () |
| int | write_accelerometer_offset (int id, double *offset) |
| int | write_angle_offset (int id, double angle) |
| int | write_attitude_sensor_offset (int id, double *offset) |
| int | write_command_angle (int id, double angle) |
| int | write_command_angles (const double *angles) |
| int | write_command_torque (int id, double torque) |
| int | write_command_torques (const double *torques) |
| int | write_command_velocities (const double *vels) |
| int | write_command_velocity (int id, double vel) |
| int | write_control_mode (int id, joint_control_mode s) |
| int | write_dgain (int id, double gain) |
| int | write_digital_output (const char *doutput) |
| int | write_digital_output_with_mask (const char *doutput, const char *mask) |
| int | write_dio (unsigned short buf) |
| int | write_force_offset (int id, double *offsets) |
| int | write_gyro_sensor_offset (int id, double *offset) |
| int | write_pgain (int id, double gain) |
| int | write_power_command (int id, int com) |
| int | write_servo (int id, int com) |
Variables |
static std::vector
< std::vector< double > > | accel_offset |
static std::vector
< std::vector< double > > | accelerometers |
static std::vector
< std::vector< double > > | attitude_sensors |
| static std::vector< double > | command |
static std::vector
< std::vector< double > > | force_offset |
static std::vector
< std::vector< double > > | forces |
| static unsigned long long | frame = 0 |
| static long | g_period_ns = 1000000 |
| static timespec | g_ts |
static std::vector
< std::vector< double > > | gyro_offset |
static std::vector
< std::vector< double > > | gyros |
| static bool | init_sub_flag = false |
| static JointCommand | initial_jointcommand |
| static bool | iob_synchronized |
| static bool | isLocked = false |
| static std::map< int, int > | joint_model2real_map |
| static std::vector< int > | joint_real2model_vec |
| static JointCommand | jointcommand |
| static RobotState | js |
| static int | num_of_substeps = 1 |
| static long | overwrite_g_period_ns = -1 |
| static std::vector< int > | power |
| static std::vector< double > | prev_command |
| static ros::Publisher | pub_joint_command |
| static ros::Time | rg_ts |
| static ros::NodeHandle * | rosnode |
| static ros::ServiceClient | serv_command |
| static std::vector< int > | servo |
| static bool | start_robothw = false |
| static ros::Subscriber | sub_robot_state |
| static bool | use_velocity_feedback = false |
