#include <device.hh>

Inheritance diagram for dynamicgraph::sot::Device:

Public Types
enum	ForceSignalSource { FORCE_SIGNAL_RLEG, FORCE_SIGNAL_LLEG, FORCE_SIGNAL_RARM, FORCE_SIGNAL_LARM }

Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command * >	CommandMap_t

typedef std::map< std::string, SignalBase< sigtime_t > * >	SignalMap

Public Member Functions
virtual void	cmdDisplay ()

	Device (const std::string &name)

virtual void	display (std::ostream &os) const

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

void	getControl (std::map< std::string, ControlValues > &anglesOut, const double &period)

size_type	getControlSize () const

virtual void	setControlInputType (const std::string &cit)

void	setControlSize (const size_type &size)

virtual void	setNoIntegration ()

virtual void	setRoot (const dynamicgraph::Matrix &root)

virtual void	setRoot (const MatrixHomogeneous &worldMwaist)

virtual void	setSecondOrderIntegration ()

virtual void	setState (const dynamicgraph::Vector &st)

virtual void	setStateSize (const size_type &size)

virtual void	setVelocity (const dynamicgraph::Vector &vel)

void	setVelocitySize (const size_type &size)

virtual	~Device ()

Sanity check parameterization
void	setSanityCheck (const bool &enableCheck)

void	setPositionBounds (const Vector &lower, const Vector &upper)

void	setVelocityBounds (const Vector &lower, const Vector &upper)

void	setTorqueBounds (const Vector &lower, const Vector &upper)

Public Member Functions inherited from dynamicgraph::Entity
std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

const std::string &	getCommandList () const

virtual std::string	getDocString () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< sigtime_t > &	getSignal (const std::string &signalName)

const SignalBase< sigtime_t > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger &	logger ()

const Logger &	logger () const

const Logger &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< sigtime_t > *	test ()

virtual void	test2 (SignalBase< sigtime_t > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Public Attributes
dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t >	attitudeSIN

dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t >	controlSIN

dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t >	zmpSIN

Device current state.
dynamicgraph::Signal< dynamicgraph::Vector, sigtime_t >	stateSOUT

dynamicgraph::Signal< dynamicgraph::Vector, sigtime_t >	velocitySOUT

dynamicgraph::Signal< MatrixRotation, sigtime_t >	attitudeSOUT

dynamicgraph::Signal< dynamicgraph::Vector, sigtime_t >	motorcontrolSOUT
	The current state of the robot from the command viewpoint. More...

dynamicgraph::Signal< dynamicgraph::Vector, sigtime_t >	previousControlSOUT

dynamicgraph::Signal< dynamicgraph::Vector, sigtime_t >	ZMPPreviousControllerSOUT
	The ZMP reference send by the previous controller. More...

Real robot current state
This corresponds to the real encoders values and take into account the stabilization step. Therefore, this usually does not match the state control input signal. Motor positions
dynamicgraph::Signal< dynamicgraph::Vector, sigtime_t >	robotState_

dynamicgraph::Signal< dynamicgraph::Vector, sigtime_t >	robotVelocity_
	Motor velocities. More...

dynamicgraph::Signal< dynamicgraph::Vector, sigtime_t > *	forcesSOUT [4]
	The force torque sensors. More...

dynamicgraph::Signal< dynamicgraph::Vector, sigtime_t >	pseudoTorqueSOUT

Static Public Attributes
static const std::string	CLASS_NAME = "Device"

Protected Attributes
ControlInput	controlInputType_

bool	sanityCheck_

dynamicgraph::Vector	state_

double	timestep_

dynamicgraph::Vector	vel_control_

dynamicgraph::Vector	velocity_

bool	withForceSignals [4]

Robot bounds used for sanity checks
Vector	upperPosition_

Vector	upperVelocity_

Vector	upperTorque_

Vector	lowerPosition_

Vector	lowerVelocity_

Vector	lowerTorque_

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Private Attributes
size_type	controlSize_

dynamicgraph::Vector	forceZero6

sigtime_t	lastTimeControlWasRead_

Friends
SOT_CORE_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Device &r)

Additional Inherited Members
Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< sigtime_t > &signals)

Detailed Description

Definition at line 47 of file device.hh.

Member Enumeration Documentation

◆ ForceSignalSource

enum dynamicgraph::sot::Device::ForceSignalSource

Enumerator
FORCE_SIGNAL_RLEG
FORCE_SIGNAL_LLEG
FORCE_SIGNAL_RARM
FORCE_SIGNAL_LARM

Definition at line 52 of file device.hh.

Constructor & Destructor Documentation

◆ Device()

Device::Device ( const std::string & name )

Definition at line 78 of file device.cpp.

◆ ~Device()

Device::~Device ( )

virtual

Definition at line 72 of file device.cpp.

Member Function Documentation

◆ cmdDisplay()

void Device::cmdDisplay ( )

virtual

Definition at line 354 of file device.cpp.

◆ display()

void Device::display ( std::ostream & os ) const

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 348 of file device.cpp.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::Device::getClassName ( void ) const

inlinevirtual

Reimplemented from dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::RobotSimu.

Definition at line 50 of file device.hh.

◆ getControl()

void Device::getControl	(	std::map< std::string, ControlValues > &	anglesOut,
		const double &	period
	)

Definition at line 226 of file device.cpp.

◆ getControlSize()

size_type Device::getControlSize ( ) const

Definition at line 261 of file device.cpp.

◆ setControlInputType()

void Device::setControlInputType ( const std::string & cit )

virtual

Definition at line 293 of file device.cpp.

◆ setControlSize()

void Device::setControlSize ( const size_type & size )

Definition at line 259 of file device.cpp.

◆ setNoIntegration()

void Device::setNoIntegration ( )

virtual

Definition at line 291 of file device.cpp.

◆ setPositionBounds()

void Device::setPositionBounds	(	const Vector &	lower,
		const Vector &	upper
	)

Definition at line 297 of file device.cpp.

◆ setRoot() [1/2]

void Device::setRoot ( const dynamicgraph::Matrix & root )

virtual

Definition at line 276 of file device.cpp.

◆ setRoot() [2/2]

void Device::setRoot ( const MatrixHomogeneous & worldMwaist )

virtual

Definition at line 282 of file device.cpp.

◆ setSanityCheck()

void Device::setSanityCheck ( const bool & enableCheck )

Definition at line 295 of file device.cpp.

◆ setSecondOrderIntegration()

void Device::setSecondOrderIntegration ( )

virtual

Definition at line 289 of file device.cpp.

◆ setState()

void Device::setState ( const dynamicgraph::Vector & st )

virtual

Definition at line 269 of file device.cpp.

◆ setStateSize()

void Device::setStateSize ( const size_type & size )

virtual

Definition at line 244 of file device.cpp.

◆ setTorqueBounds()

void Device::setTorqueBounds	(	const Vector &	lower,
		const Vector &	upper
	)

Definition at line 329 of file device.cpp.

◆ setVelocity()

void Device::setVelocity ( const dynamicgraph::Vector & vel )

virtual

Definition at line 271 of file device.cpp.

◆ setVelocityBounds()

void Device::setVelocityBounds	(	const Vector &	lower,
		const Vector &	upper
	)

Definition at line 313 of file device.cpp.

◆ setVelocitySize()

void Device::setVelocitySize ( const size_type & size )

Definition at line 263 of file device.cpp.

Friends And Related Function Documentation

◆ operator<<

SOT_CORE_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Device &	r
	)

friend

Definition at line 108 of file device.hh.

Member Data Documentation

◆ attitudeSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Device::attitudeSIN

Definition at line 116 of file device.hh.

◆ attitudeSOUT

dynamicgraph::Signal<MatrixRotation, sigtime_t> dynamicgraph::sot::Device::attitudeSOUT

Definition at line 123 of file device.hh.

◆ CLASS_NAME

const std::string Device::CLASS_NAME = "Device"

static

Definition at line 49 of file device.hh.

◆ controlInputType_

ControlInput dynamicgraph::sot::Device::controlInputType_

protected

Definition at line 64 of file device.hh.

◆ controlSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Device::controlSIN

Definition at line 115 of file device.hh.

◆ controlSize_

size_type dynamicgraph::sot::Device::controlSize_

private

Definition at line 155 of file device.hh.

◆ forcesSOUT

dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t>* dynamicgraph::sot::Device::forcesSOUT[4]

The force torque sensors.

Definition at line 142 of file device.hh.

◆ forceZero6

dynamicgraph::Vector dynamicgraph::sot::Device::forceZero6

private

Definition at line 157 of file device.hh.

◆ lastTimeControlWasRead_

sigtime_t dynamicgraph::sot::Device::lastTimeControlWasRead_

private

Definition at line 154 of file device.hh.

◆ lowerPosition_

Vector dynamicgraph::sot::Device::lowerPosition_

protected

Definition at line 73 of file device.hh.

◆ lowerTorque_

Vector dynamicgraph::sot::Device::lowerTorque_

protected

Definition at line 75 of file device.hh.

◆ lowerVelocity_

Vector dynamicgraph::sot::Device::lowerVelocity_

protected

Definition at line 74 of file device.hh.

◆ motorcontrolSOUT

dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Device::motorcontrolSOUT

The current state of the robot from the command viewpoint.

Definition at line 125 of file device.hh.

◆ previousControlSOUT

dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Device::previousControlSOUT

Definition at line 126 of file device.hh.

◆ pseudoTorqueSOUT

dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Device::pseudoTorqueSOUT

Motor torques

Todo:: why pseudo ?

Definition at line 145 of file device.hh.

◆ robotState_

dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Device::robotState_

Definition at line 138 of file device.hh.

◆ robotVelocity_

dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Device::robotVelocity_

Motor velocities.

Definition at line 140 of file device.hh.

◆ sanityCheck_

bool dynamicgraph::sot::Device::sanityCheck_

protected

Definition at line 62 of file device.hh.

◆ state_

dynamicgraph::Vector dynamicgraph::sot::Device::state_

protected

Definition at line 60 of file device.hh.

◆ stateSOUT

dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Device::stateSOUT

Definition at line 121 of file device.hh.

◆ timestep_

double dynamicgraph::sot::Device::timestep_

protected

Definition at line 66 of file device.hh.

◆ upperPosition_

Vector dynamicgraph::sot::Device::upperPosition_

protected

Definition at line 70 of file device.hh.

◆ upperTorque_

Vector dynamicgraph::sot::Device::upperTorque_

protected

Definition at line 72 of file device.hh.

◆ upperVelocity_

Vector dynamicgraph::sot::Device::upperVelocity_

protected

Definition at line 71 of file device.hh.

◆ vel_control_

dynamicgraph::Vector dynamicgraph::sot::Device::vel_control_

protected

Definition at line 63 of file device.hh.

◆ velocity_

dynamicgraph::Vector dynamicgraph::sot::Device::velocity_

protected

Definition at line 61 of file device.hh.

◆ velocitySOUT

dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Device::velocitySOUT

Definition at line 122 of file device.hh.

◆ withForceSignals

bool dynamicgraph::sot::Device::withForceSignals[4]

protected

Definition at line 65 of file device.hh.

◆ ZMPPreviousControllerSOUT

dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Device::ZMPPreviousControllerSOUT

The ZMP reference send by the previous controller.

Definition at line 129 of file device.hh.

◆ zmpSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Device::zmpSIN

Definition at line 117 of file device.hh.

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ForceSignalSource

Constructor & Destructor Documentation

◆ Device()

◆ ~Device()

Member Function Documentation

◆ cmdDisplay()

◆ display()

◆ getClassName()

◆ getControl()

◆ getControlSize()

◆ setControlInputType()

◆ setControlSize()

◆ setNoIntegration()

◆ setPositionBounds()

◆ setRoot() [1/2]

◆ setRoot() [2/2]

◆ setSanityCheck()

◆ setSecondOrderIntegration()

◆ setState()

◆ setStateSize()

◆ setTorqueBounds()

◆ setVelocity()

◆ setVelocityBounds()

◆ setVelocitySize()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ attitudeSIN

◆ attitudeSOUT

◆ CLASS_NAME

◆ controlInputType_

◆ controlSIN

◆ controlSize_

◆ forcesSOUT

◆ forceZero6

◆ lastTimeControlWasRead_

◆ lowerPosition_

◆ lowerTorque_

◆ lowerVelocity_

◆ motorcontrolSOUT

◆ previousControlSOUT

◆ pseudoTorqueSOUT

◆ robotState_

◆ robotVelocity_

◆ sanityCheck_

◆ state_

◆ stateSOUT

◆ timestep_

◆ upperPosition_

◆ upperTorque_

◆ upperVelocity_

◆ vel_control_

◆ velocity_

◆ velocitySOUT

◆ withForceSignals

◆ ZMPPreviousControllerSOUT

◆ zmpSIN