#include <parameter-server.hh>

Inheritance diagram for dynamicgraph::sot::ParameterServer:

Public Member Functions
virtual void	display (std::ostream &os) const

void	init (const double &dt, const std::string &urdfFile, const std::string &robotRef)

void	init_simple (const double &dt)

	ParameterServer (const std::string &name)

void	setForceLimitsFromId (const double &jointId, const dynamicgraph::Vector &lq, const dynamicgraph::Vector &uq)
	Command related to ForceUtil. More...

void	setForceNameToForceId (const std::string &forceName, const double &forceId)

void	setJointLimitsFromId (const double &jointId, const double &lq, const double &uq)

void	setJoints (const dynamicgraph::Vector &)

void	setNameToId (const std::string &jointName, const double &jointId)
	Commands related to joint name and joint id. More...

	~ParameterServer ()

Commands related to FootUtil
void	setRightFootSoleXYZ (const dynamicgraph::Vector &)

void	setRightFootForceSensorXYZ (const dynamicgraph::Vector &)

void	setFootFrameName (const std::string &, const std::string &)

void	setHandFrameName (const std::string &, const std::string &)

void	setImuJointName (const std::string &)

void	displayRobotUtil ()

Commands related to the model
template<typename Type >
void	setParameter (const std::string &ParameterName, const Type &ParameterValue)

template<typename Type >
Type	getParameter (const std::string &ParameterName)

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

	Entity (const std::string &name)

virtual const std::string &	getClassName () const

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 ()

Protected Member Functions
bool	convertJointNameToJointId (const std::string &name, std::size_t &id)

bool	isJointInRange (std::size_t id, double q)

void	updateJointCtrlModesOutputSignal ()

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)

Protected Attributes
double	m_dt
	true if the entity has been successfully initialized More...

bool	m_emergency_stop_triggered
	control loop time period More...

bool	m_initSucceeded

bool	m_is_first_iter

size_type	m_iter
	true at the first iteration, false otherwise More...

RobotUtilShrPtr	m_robot_util

double	m_sleep_time

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Private Types
typedef ParameterServer	EntityClassName

Private Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()

Additional Inherited Members
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

Detailed Description

Definition at line 56 of file parameter-server.hh.

Member Typedef Documentation

◆ EntityClassName

typedef ParameterServer dynamicgraph::sot::ParameterServer::EntityClassName

private

Definition at line 58 of file parameter-server.hh.

Constructor & Destructor Documentation

◆ ParameterServer()

dynamicgraph::sot::ParameterServer::ParameterServer ( const std::string & name )

Definition at line 55 of file parameter-server.cpp.

◆ ~ParameterServer()

dynamicgraph::sot::ParameterServer::~ParameterServer ( )

inline

Definition at line 65 of file parameter-server.hh.

Member Function Documentation

◆ convertJointNameToJointId()

bool dynamicgraph::sot::ParameterServer::convertJointNameToJointId	(	const std::string &	name,
		std::size_t &	id
	)

protected

time to sleep at every iteration (to slow down simulation)

Definition at line 383 of file parameter-server.cpp.

◆ display()

void dynamicgraph::sot::ParameterServer::display ( std::ostream & os ) const

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 424 of file parameter-server.cpp.

◆ displayRobotUtil()

void dynamicgraph::sot::ParameterServer::displayRobotUtil ( )

Definition at line 378 of file parameter-server.cpp.

◆ DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::ParameterServer::DYNAMIC_GRAPH_ENTITY_DECL ( )

private

◆ getParameter()

template<typename Type >

Type dynamicgraph::sot::ParameterServer::getParameter ( const std::string & ParameterName )

inline

Definition at line 119 of file parameter-server.hh.

◆ init()

void dynamicgraph::sot::ParameterServer::init	(	const double &	dt,
		const std::string &	urdfFile,
		const std::string &	robotRef
	)

Initialize

Parameters

dt	control interval
urdfFile	path to the URDF model of the robot

Definition at line 242 of file parameter-server.cpp.

◆ init_simple()

void dynamicgraph::sot::ParameterServer::init_simple ( const double & dt )

Initialize

Parameters

dt	control interval provided by the device. The urdf model is found by reading /robot_description The robot name is found using the name inside robot_description

Definition at line 207 of file parameter-server.cpp.

◆ isJointInRange()

bool dynamicgraph::sot::ParameterServer::isJointInRange	(	std::size_t	id,
		double	q
	)

protected

Definition at line 400 of file parameter-server.cpp.

◆ setFootFrameName()

void dynamicgraph::sot::ParameterServer::setFootFrameName	(	const std::string &	FootName,
		const std::string &	FrameName
	)

Definition at line 340 of file parameter-server.cpp.

◆ setForceLimitsFromId()

void dynamicgraph::sot::ParameterServer::setForceLimitsFromId	(	const double &	jointId,
		const dynamicgraph::Vector &	lq,
		const dynamicgraph::Vector &	uq
	)

Command related to ForceUtil.

Definition at line 286 of file parameter-server.cpp.

◆ setForceNameToForceId()

void dynamicgraph::sot::ParameterServer::setForceNameToForceId	(	const std::string &	forceName,
		const double &	forceId
	)

Definition at line 298 of file parameter-server.cpp.

◆ setHandFrameName()

void dynamicgraph::sot::ParameterServer::setHandFrameName	(	const std::string &	HandName,
		const std::string &	FrameName
	)

Definition at line 354 of file parameter-server.cpp.

◆ setImuJointName()

void dynamicgraph::sot::ParameterServer::setImuJointName ( const std::string & JointName )

Definition at line 370 of file parameter-server.cpp.

◆ setJointLimitsFromId()

void dynamicgraph::sot::ParameterServer::setJointLimitsFromId	(	const double &	jointId,
		const double &	lq,
		const double &	uq
	)

Definition at line 275 of file parameter-server.cpp.

◆ setJoints()

void dynamicgraph::sot::ParameterServer::setJoints ( const dynamicgraph::Vector & urdf_to_sot )

Set the mapping between urdf and sot.

Definition at line 311 of file parameter-server.cpp.

◆ setNameToId()

void dynamicgraph::sot::ParameterServer::setNameToId	(	const std::string &	jointName,
		const double &	jointId
	)

Commands related to joint name and joint id.

Definition at line 265 of file parameter-server.cpp.

◆ setParameter()

template<typename Type >

void dynamicgraph::sot::ParameterServer::setParameter	(	const std::string &	ParameterName,
		const Type &	ParameterValue
	)

inline

Definition at line 106 of file parameter-server.hh.

◆ setRightFootForceSensorXYZ()

void dynamicgraph::sot::ParameterServer::setRightFootForceSensorXYZ ( const dynamicgraph::Vector & xyz )

Definition at line 329 of file parameter-server.cpp.

◆ setRightFootSoleXYZ()

void dynamicgraph::sot::ParameterServer::setRightFootSoleXYZ ( const dynamicgraph::Vector & xyz )

Definition at line 319 of file parameter-server.cpp.

◆ updateJointCtrlModesOutputSignal()

void dynamicgraph::sot::ParameterServer::updateJointCtrlModesOutputSignal ( )

protected

Member Data Documentation

◆ m_dt

double dynamicgraph::sot::ParameterServer::m_dt

protected

true if the entity has been successfully initialized

Definition at line 140 of file parameter-server.hh.

◆ m_emergency_stop_triggered

bool dynamicgraph::sot::ParameterServer::m_emergency_stop_triggered

protected

control loop time period

Definition at line 141 of file parameter-server.hh.

◆ m_initSucceeded

bool dynamicgraph::sot::ParameterServer::m_initSucceeded

protected

Definition at line 139 of file parameter-server.hh.

◆ m_is_first_iter

bool dynamicgraph::sot::ParameterServer::m_is_first_iter

protected

true if an emergency condition as been triggered either by an other entity, or by control limit violation

Definition at line 144 of file parameter-server.hh.

◆ m_iter

size_type dynamicgraph::sot::ParameterServer::m_iter

protected

true at the first iteration, false otherwise

Definition at line 145 of file parameter-server.hh.

◆ m_robot_util

RobotUtilShrPtr dynamicgraph::sot::ParameterServer::m_robot_util

protected

Definition at line 137 of file parameter-server.hh.

◆ m_sleep_time

double dynamicgraph::sot::ParameterServer::m_sleep_time

protected

Definition at line 146 of file parameter-server.hh.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ EntityClassName

Constructor & Destructor Documentation

◆ ParameterServer()

◆ ~ParameterServer()

Member Function Documentation

◆ convertJointNameToJointId()

◆ display()

◆ displayRobotUtil()

◆ DYNAMIC_GRAPH_ENTITY_DECL()

◆ getParameter()

◆ init()

◆ init_simple()

◆ isJointInRange()

◆ setFootFrameName()

◆ setForceLimitsFromId()

◆ setForceNameToForceId()

◆ setHandFrameName()

◆ setImuJointName()

◆ setJointLimitsFromId()

◆ setJoints()

◆ setNameToId()

◆ setParameter()

◆ setRightFootForceSensorXYZ()

◆ setRightFootSoleXYZ()

◆ updateJointCtrlModesOutputSignal()

Member Data Documentation

◆ m_dt

◆ m_emergency_stop_triggered

◆ m_initSucceeded

◆ m_is_first_iter

◆ m_iter

◆ m_robot_util

◆ m_sleep_time