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

#include <dcm.hpp>

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

int	getTime (const int &offset)
	get time from the DCM proxy More...

bool	init (const std::vector< std::string > &joints)
	initialize all Aliases More...

bool	setStiffness (const float &stiffness)
	update joints stiffness More...

void	writeJoints (const std::vector< double > &joint_commands)
	update joints values More...

Private Member Functions
bool	createHardnessActuatorAlias (const std::vector< std::string > &joints)
	create Hardness Actuator Alias More...

bool	createPositionActuatorAlias (const std::vector< std::string > &joints)
	create Position Actuator Alias More...

void	createPositionActuatorCommand (const std::vector< std::string > &joints)
	initialize of DCM Motion commands More...

bool	DCMAliasTimedCommand (const std::string &alias, const float &values, const int &timeOffset, const std::string &type_update="Merge")
	DCM Wrapper Method. More...

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:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation