DCM Class Reference

This class is a wapper for Naoqi DCM Class. More...

#include <dcm.hpp>

List of all members.

Public Member Functions
	DCM (const qi::SessionPtr &session, const double &controller_freq)
int	getTime (const int &offset)
	get time from the DCM proxy
bool	init (const std::vector< std::string > &joints)
	initialize all Aliases
bool	setStiffness (const float &stiffness)
	update joints stiffness
void	writeJoints (const std::vector< double > &joint_commands)
	update joints values
Private Member Functions
bool	createHardnessActuatorAlias (const std::vector< std::string > &joints)
	create Hardness Actuator Alias
bool	createPositionActuatorAlias (const std::vector< std::string > &joints)
	create Position Actuator Alias
void	createPositionActuatorCommand (const std::vector< std::string > &joints)
	initialize of DCM Motion commands
bool	DCMAliasTimedCommand (const std::string &alias, const float &values, const int &timeOffset, const std::string &type_update="Merge")
	DCM Wrapper Method.
Private Attributes
std::vector< qi::AnyValue >	commands_
std::vector< std::vector < std::vector< qi::AnyValue > > >	commands_values_
double	controller_freq_
qi::AnyObject	dcm_proxy_

---

Detailed Description

This class is a wapper for Naoqi DCM Class.

Definition at line 27 of file dcm.hpp.

---

Constructor & Destructor Documentation

DCM::DCM	(	const qi::SessionPtr &	session,
		const double &	controller_freq
	)

Definition at line 24 of file dcm.cpp.

---

Member Function Documentation

bool DCM::createHardnessActuatorAlias

(

const std::vector< std::string > &

joints

)

[private]

create Hardness Actuator Alias

Definition at line 112 of file dcm.cpp.

bool DCM::createPositionActuatorAlias

(

const std::vector< std::string > &

joints

)

[private]

create Position Actuator Alias

Definition at line 79 of file dcm.cpp.

void DCM::createPositionActuatorCommand

(

const std::vector< std::string > &

joints

)

[private]

initialize of DCM Motion commands

Definition at line 54 of file dcm.cpp.

bool DCM::DCMAliasTimedCommand	(	const std::string &	alias,
		const float &	values,
		const int &	timeOffset,
		const std::string &	type_update = "Merge"
	)		[private]

DCM Wrapper Method.

Definition at line 148 of file dcm.cpp.

int DCM::getTime

(

const int &

offset

)

get time from the DCM proxy

Definition at line 192 of file dcm.cpp.

bool DCM::init

(

const std::vector< std::string > &

joints

)

initialize all Aliases

Definition at line 38 of file dcm.cpp.

bool DCM::setStiffness

(

const float &

stiffness

)

update joints stiffness

Definition at line 240 of file dcm.cpp.

void DCM::writeJoints

(

const std::vector< double > &

joint_commands

)

update joints values

Definition at line 206 of file dcm.cpp.

---

Member Data Documentation

std::vector<qi::AnyValue> DCM::commands_ [private]

alias to send DCM commands

Definition at line 65 of file dcm.hpp.

std::vector<std::vector <std::vector <qi::AnyValue> > > DCM::commands_values_ [private]

alias keys to send DCM commands

Definition at line 68 of file dcm.hpp.

double DCM::controller_freq_ [private]

frequency to write joints values

Definition at line 71 of file dcm.hpp.

qi::AnyObject DCM::dcm_proxy_ [private]

DCM proxy

Definition at line 62 of file dcm.hpp.

---

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

• dcm.hpp
• dcm.cpp