Defines | Enumerations | Functions | Variables
iob.cpp File Reference
#include <unistd.h>
#include <iostream>
#include <string>
#include <cstdlib>
#include <cstring>
#include <vector>
#include "io/iob.h"
#include <ros/ros.h>
#include <boost/algorithm/string.hpp>
#include <osrf_msgs/JointCommands.h>
#include <sensor_msgs/JointState.h>
#include <sensor_msgs/Imu.h>
#include <atlas_msgs/AtlasState.h>
#include <atlas_msgs/AtlasCommand.h>
#include <hrpUtil/Eigen3d.h>
Include dependency graph for iob.cpp:

Go to the source code of this file.

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)   get_joint_id_model2real(id)
#define JOINT_ID_REAL2MODEL(id)   get_joint_id_real2model(id)
#define NUM_OF_REAL_JOINT   get_num_of_real_joint()

Enumerations

enum  AtlasName { ATLAS_V0, ATLAS_V3, UNKNOWN }

Functions

int close_iob (void)
static int get_joint_id_model2real (int id)
static int get_joint_id_real2model (int id)
static int get_num_of_real_joint ()
long get_signal_period ()
int initializeJointAngle (const char *name, const char *option)
int joint_calibration (int id, double angle)
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 atlas_msgs::AtlasState::ConstPtr &_js)
void timespec_add_ns (timespec *ts, long ns)
double timespec_compare (timespec *ts1, timespec *ts2)
int unlock_iob ()
static void update_atlas_name ()
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 enum AtlasName atlas_name = UNKNOWN
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 int frame = 0
static long g_period_ns = 3000000
static timespec g_ts
static std::vector
< std::vector< double > > 
gyro_offset
static std::vector
< std::vector< double > > 
gyros
static int init_sub_flag = FALSE
static atlas_msgs::AtlasCommand initial_jointcommands
static bool isLocked = false
static int joint_id_real2model_atlas_v0 [] = {0, 1, 2, 9, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 3, 4, 5, 6, 7, 8, 21, 22, 23, 24, 25, 26}
static int joint_id_real2model_atlas_v3 [] = {0, 1, 2, 11, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 3, 4, 5, 6, 7, 8, 23, 24, 25, 26, 27, 28}
static atlas_msgs::AtlasCommand jointcommands
static atlas_msgs::AtlasState js
static ros::Time last_callback_time
static std::vector< intpower
static std::vector< double > prev_command
static ros::Publisher pub_joint_commands_
static ros::Time rg_ts
static ros::NodeHandlerosnode
static std::vector< intservo
static ros::Subscriber sub_atlas_state

Define Documentation

#define CHECK_ACCELEROMETER_ID (   id)    if ((id) < 0 || (id) >= number_of_accelerometers()) return E_ID

Definition at line 47 of file iob.cpp.

#define CHECK_ATTITUDE_SENSOR_ID (   id)    if ((id) < 0 || (id) >= number_of_attitude_sensors()) return E_ID

Definition at line 49 of file iob.cpp.

#define CHECK_FORCE_SENSOR_ID (   id)    if ((id) < 0 || (id) >= number_of_force_sensors()) return E_ID

Definition at line 46 of file iob.cpp.

#define CHECK_GYRO_SENSOR_ID (   id)    if ((id) < 0 || (id) >= number_of_gyro_sensors()) return E_ID

Definition at line 48 of file iob.cpp.

#define CHECK_JOINT_ID (   id)    if ((id) < 0 || (id) >= number_of_joints()) return E_ID

Definition at line 45 of file iob.cpp.

Definition at line 209 of file iob.cpp.

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Definition at line 210 of file iob.cpp.


Enumeration Type Documentation

enum AtlasName
Enumerator:
ATLAS_V0 
ATLAS_V3 
UNKNOWN 

Definition at line 216 of file iob.cpp.


Function Documentation

Definition at line 981 of file iob.cpp.

static int get_joint_id_model2real ( int  id) [static]

Definition at line 263 of file iob.cpp.

static int get_joint_id_real2model ( int  id) [static]

Definition at line 234 of file iob.cpp.

static int get_num_of_real_joint ( ) [static]

Definition at line 248 of file iob.cpp.

Definition at line 1225 of file iob.cpp.

int initializeJointAngle ( const char *  name,
const char *  option 
)

Definition at line 1230 of file iob.cpp.

int joint_calibration ( int  id,
double  angle 
)

Definition at line 995 of file iob.cpp.

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Definition at line 1126 of file iob.cpp.

int open_iob ( void  )

Definition at line 807 of file iob.cpp.

int read_accelerometer ( int  id,
double *  accels 
)

Definition at line 699 of file iob.cpp.

int read_accelerometer_offset ( int  id,
double *  offset 
)

Definition at line 1016 of file iob.cpp.

int read_actual_angle ( int  id,
double *  angle 
)

Definition at line 453 of file iob.cpp.

int read_actual_angles ( double *  angles)

Definition at line 470 of file iob.cpp.

int read_actual_torques ( double *  torques)

Definition at line 478 of file iob.cpp.

int read_actual_velocities ( double *  vels)

Definition at line 768 of file iob.cpp.

int read_actual_velocity ( int  id,
double *  vel 
)

Definition at line 753 of file iob.cpp.

int read_angle_offset ( int  id,
double *  angle 
)

Definition at line 1084 of file iob.cpp.

int read_attitude_sensor ( int  id,
double *  att 
)

Definition at line 728 of file iob.cpp.

int read_calib_state ( int  id,
int s 
)

Definition at line 1053 of file iob.cpp.

int read_command_angle ( int  id,
double *  angle 
)

Definition at line 515 of file iob.cpp.

int read_command_angles ( double *  angles)

Definition at line 529 of file iob.cpp.

int read_command_torque ( int  id,
double *  torque 
)

Definition at line 495 of file iob.cpp.

int read_command_torques ( double *  torques)

Definition at line 505 of file iob.cpp.

int read_command_velocities ( double *  vels)

Definition at line 773 of file iob.cpp.

int read_command_velocity ( int  id,
double *  vel 
)

Definition at line 758 of file iob.cpp.

Definition at line 440 of file iob.cpp.

int read_current ( int  id,
double *  mcurrent 
)

Definition at line 733 of file iob.cpp.

int read_current_limit ( int  id,
double *  v 
)

Definition at line 738 of file iob.cpp.

int read_currents ( double *  currents)

Definition at line 743 of file iob.cpp.

int read_dgain ( int  id,
double *  gain 
)

Definition at line 617 of file iob.cpp.

int read_digital_input ( char *  dinput)

Definition at line 1236 of file iob.cpp.

int read_digital_output ( char *  doutput)

Definition at line 1261 of file iob.cpp.

int read_driver_temperature ( int  id,
unsigned char *  v 
)

Definition at line 1138 of file iob.cpp.

int read_encoder_pulse ( int  id,
double *  ec 
)

Definition at line 1102 of file iob.cpp.

int read_extra_servo_state ( int  id,
int state 
)

Definition at line 1214 of file iob.cpp.

int read_force_offset ( int  id,
double *  offsets 
)

Definition at line 1032 of file iob.cpp.

int read_force_sensor ( int  id,
double *  forces 
)

Definition at line 642 of file iob.cpp.

int read_gauges ( double *  gauges)

Definition at line 748 of file iob.cpp.

int read_gear_ratio ( int  id,
double *  gr 
)

Definition at line 1106 of file iob.cpp.

int read_gyro_sensor ( int  id,
double *  rates 
)

Definition at line 666 of file iob.cpp.

int read_gyro_sensor_offset ( int  id,
double *  offset 
)

Definition at line 1000 of file iob.cpp.

unsigned long long read_iob_frame ( )

Definition at line 1119 of file iob.cpp.

int read_limit_angle ( int  id,
double *  angle 
)

Definition at line 1079 of file iob.cpp.

int read_llimit_angle ( int  id,
double *  angle 
)

Definition at line 1098 of file iob.cpp.

Definition at line 1074 of file iob.cpp.

int read_pgain ( int  id,
double *  gain 
)

Definition at line 591 of file iob.cpp.

int read_power ( double *  voltage,
double *  current 
)

Definition at line 1131 of file iob.cpp.

int read_power_command ( int  id,
int com 
)

Definition at line 419 of file iob.cpp.

int read_power_state ( int  id,
int s 
)

Definition at line 405 of file iob.cpp.

int read_servo_alarm ( int  id,
int a 
)

Definition at line 433 of file iob.cpp.

int read_servo_state ( int  id,
int s 
)

Definition at line 426 of file iob.cpp.

int read_temperature ( int  id,
double *  v 
)

Definition at line 783 of file iob.cpp.

int read_torque_const ( int  id,
double *  tc 
)

Definition at line 1110 of file iob.cpp.

int read_torque_limit ( int  id,
double *  limit 
)

Definition at line 1114 of file iob.cpp.

int read_touch_sensors ( unsigned short *  onoff)

Definition at line 723 of file iob.cpp.

int read_ulimit_angle ( int  id,
double *  angle 
)

Definition at line 1094 of file iob.cpp.

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int set_signal_period ( long  period_ns)

Definition at line 1219 of file iob.cpp.

static void setJointStates ( const atlas_msgs::AtlasState::ConstPtr &  _js) [static]

Definition at line 800 of file iob.cpp.

void timespec_add_ns ( timespec ts,
long  ns 
)

Definition at line 1144 of file iob.cpp.

double timespec_compare ( timespec ts1,
timespec ts2 
)

Definition at line 1153 of file iob.cpp.

Definition at line 1068 of file iob.cpp.

static void update_atlas_name ( ) [static]

Definition at line 219 of file iob.cpp.

Definition at line 1160 of file iob.cpp.

int write_accelerometer_offset ( int  id,
double *  offset 
)

Definition at line 1024 of file iob.cpp.

int write_angle_offset ( int  id,
double  angle 
)

Definition at line 1089 of file iob.cpp.

int write_attitude_sensor_offset ( int  id,
double *  offset 
)

Definition at line 1048 of file iob.cpp.

int write_command_angle ( int  id,
double  angle 
)

Definition at line 522 of file iob.cpp.

int write_command_angles ( const double *  angles)

Definition at line 537 of file iob.cpp.

int write_command_torque ( int  id,
double  torque 
)

Definition at line 500 of file iob.cpp.

int write_command_torques ( const double *  torques)

Definition at line 510 of file iob.cpp.

int write_command_velocities ( const double *  vels)

Definition at line 778 of file iob.cpp.

int write_command_velocity ( int  id,
double  vel 
)

Definition at line 763 of file iob.cpp.

Definition at line 447 of file iob.cpp.

int write_dgain ( int  id,
double  gain 
)

Definition at line 629 of file iob.cpp.

int write_digital_output ( const char *  doutput)

Definition at line 1241 of file iob.cpp.

int write_digital_output_with_mask ( const char *  doutput,
const char *  mask 
)

Definition at line 1251 of file iob.cpp.

int write_dio ( unsigned short  buf)

Definition at line 794 of file iob.cpp.

int write_force_offset ( int  id,
double *  offsets 
)

Definition at line 1040 of file iob.cpp.

int write_gyro_sensor_offset ( int  id,
double *  offset 
)

Definition at line 1008 of file iob.cpp.

int write_pgain ( int  id,
double  gain 
)

Definition at line 604 of file iob.cpp.

int write_power_command ( int  id,
int  com 
)

Definition at line 412 of file iob.cpp.

int write_servo ( int  id,
int  com 
)

Definition at line 788 of file iob.cpp.


Variable Documentation

std::vector<std::vector<double> > accel_offset [static]

Definition at line 35 of file iob.cpp.

Definition at line 31 of file iob.cpp.

enum AtlasName atlas_name = UNKNOWN [static]

Definition at line 217 of file iob.cpp.

Definition at line 32 of file iob.cpp.

std::vector<double> command [static]

Definition at line 27 of file iob.cpp.

std::vector<std::vector<double> > force_offset [static]

Definition at line 33 of file iob.cpp.

std::vector<std::vector<double> > forces [static]

Definition at line 29 of file iob.cpp.

int frame = 0 [static]

Definition at line 39 of file iob.cpp.

long g_period_ns = 3000000 [static]

Definition at line 41 of file iob.cpp.

timespec g_ts [static]

Definition at line 40 of file iob.cpp.

std::vector<std::vector<double> > gyro_offset [static]

Definition at line 34 of file iob.cpp.

std::vector<std::vector<double> > gyros [static]

Definition at line 30 of file iob.cpp.

int init_sub_flag = FALSE [static]

Definition at line 25 of file iob.cpp.

atlas_msgs::AtlasCommand initial_jointcommands [static]

Definition at line 22 of file iob.cpp.

bool isLocked = false [static]

Definition at line 38 of file iob.cpp.

int joint_id_real2model_atlas_v0[] = {0, 1, 2, 9, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 3, 4, 5, 6, 7, 8, 21, 22, 23, 24, 25, 26} [static]

Definition at line 212 of file iob.cpp.

int joint_id_real2model_atlas_v3[] = {0, 1, 2, 11, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 3, 4, 5, 6, 7, 8, 23, 24, 25, 26, 27, 28} [static]

Definition at line 214 of file iob.cpp.

atlas_msgs::AtlasCommand jointcommands [static]

Definition at line 21 of file iob.cpp.

atlas_msgs::AtlasState js [static]

Definition at line 24 of file iob.cpp.

Definition at line 43 of file iob.cpp.

std::vector<int> power [static]

Definition at line 36 of file iob.cpp.

std::vector<double> prev_command [static]

Definition at line 28 of file iob.cpp.

Definition at line 19 of file iob.cpp.

ros::Time rg_ts [static]

Definition at line 42 of file iob.cpp.

Definition at line 18 of file iob.cpp.

std::vector<int> servo [static]

Definition at line 37 of file iob.cpp.

Definition at line 20 of file iob.cpp.



hrpsys_gazebo_atlas
Author(s): Yohei Kakiuchi
autogenerated on Thu Jun 6 2019 20:57:50