abstract-sot-external-interface.hh
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1 /*
2  * Copyright 2011,
3  * Olivier Stasse, CNRS
4  *
5  * CNRS
6  *
7  */
8 
9 #ifndef ABSTRACT_SOT_EXTERNAL_INTERFACE_HH
10 #define ABSTRACT_SOT_EXTERNAL_INTERFACE_HH
11 
12 #include <map>
13 #include <sot/core/api.hh>
14 #include <sot/core/fwd.hh>
15 #include <string>
16 #include <vector>
17 
18 namespace dynamicgraph {
19 namespace sot {
20 
22  private:
23  std::string name_;
24  std::vector<double> values_;
25 
26  public:
29 
30  const std::string &getName() const { return name_; }
31 
32  void setName(const std::string &aname) { name_ = aname; }
33 
34  const std::vector<double> &getValues() const { return values_; }
35 
36  void setValues(const std::vector<double> &values) { values_ = values; }
37 };
40 
42  public:
44 
46 
47  virtual void setupSetSensors(
48  std::map<std::string, SensorValues> &sensorsIn) = 0;
49 
50  virtual void nominalSetSensors(
51  std::map<std::string, SensorValues> &sensorsIn) = 0;
52 
53  virtual void cleanupSetSensors(
54  std::map<std::string, SensorValues> &sensorsIn) = 0;
55 
56  // Get control vector
57  // \param map map string to vector of doubles. This method is expected to
58  // fill in entry "control"
59  // \param period time since last call.
60  virtual void getControl(std::map<std::string, ControlValues> &,
61  const double &period = 0) = 0;
62  virtual void setSecondOrderIntegration(void) = 0;
63  virtual void setNoIntegration(void) = 0;
64  // Set the number of joints that are controlled
65  virtual void setControlSize(const size_type &) = 0;
66 };
67 } // namespace sot
68 } // namespace dynamicgraph
69 
74 
75 #endif // ABSTRACT_SOT_EXTERNAL_INTERFACE_HH
dynamicgraph::sot::NamedVector::getName
const std::string & getName() const
Definition: abstract-sot-external-interface.hh:30
dynamicgraph::sot::AbstractSotExternalInterface::AbstractSotExternalInterface
AbstractSotExternalInterface()
Definition: abstract-sot-external-interface.hh:43
SOT_CORE_EXPORT
#define SOT_CORE_EXPORT
Definition: api.hh:20
createSotExternalInterface_t
dynamicgraph::sot::AbstractSotExternalInterface * createSotExternalInterface_t()
Definition: abstract-sot-external-interface.hh:71
dynamicgraph
dynamicgraph::sot::NamedVector::~NamedVector
~NamedVector()
Definition: abstract-sot-external-interface.hh:28
dynamicgraph::sot::AbstractSotExternalInterface::~AbstractSotExternalInterface
virtual ~AbstractSotExternalInterface()
Definition: abstract-sot-external-interface.hh:45
dynamicgraph::sot::ControlValues
NamedVector ControlValues
Definition: abstract-sot-external-interface.hh:39
fwd.hh
dynamicgraph::sot::SensorValues
NamedVector SensorValues
Definition: abstract-sot-external-interface.hh:38
dynamicgraph::sot::NamedVector::setName
void setName(const std::string &aname)
Definition: abstract-sot-external-interface.hh:32
dynamicgraph::sot::NamedVector::NamedVector
NamedVector()
Definition: abstract-sot-external-interface.hh:27
dynamicgraph::sot::NamedVector::name_
std::string name_
Definition: abstract-sot-external-interface.hh:23
api.hh
dynamicgraph::size_type
Matrix::Index size_type
dynamicgraph::sot::AbstractSotExternalInterface
Definition: abstract-sot-external-interface.hh:41
dynamicgraph::sot::NamedVector::getValues
const std::vector< double > & getValues() const
Definition: abstract-sot-external-interface.hh:34
dynamicgraph::sot::NamedVector
Definition: abstract-sot-external-interface.hh:21
values
list values
dynamicgraph::sot::NamedVector::setValues
void setValues(const std::vector< double > &values)
Definition: abstract-sot-external-interface.hh:36
dynamicgraph::sot::NamedVector::values_
std::vector< double > values_
Definition: abstract-sot-external-interface.hh:24
destroySotExternalInterface_t
void destroySotExternalInterface_t(dynamicgraph::sot::AbstractSotExternalInterface *)
Definition: abstract-sot-external-interface.hh:72


sot-core
Author(s): Olivier Stasse, ostasse@laas.fr
autogenerated on Tue Oct 24 2023 02:26:31