#include <robot-simu.hh>

Inheritance diagram for dynamicgraph::sot::RobotSimu:

Public Member Functions
virtual const std::string &	getClassName (void) const

	RobotSimu (const std::string &inName)

Public Member Functions inherited from dynamicgraph::sot::Device
virtual void	cmdDisplay ()

	Device (const std::string &name)

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

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 ()

Static Public Attributes
static const std::string	CLASS_NAME

Static Public Attributes inherited from dynamicgraph::sot::Device
static const std::string	CLASS_NAME = "Device"

Additional Inherited Members
Public Types inherited from dynamicgraph::sot::Device
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 Attributes inherited from dynamicgraph::sot::Device
dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t >	attitudeSIN

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

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

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...

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

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 inherited from dynamicgraph::sot::Device
ControlInput	controlInputType_

bool	sanityCheck_

dynamicgraph::Vector	state_

double	timestep_

dynamicgraph::Vector	vel_control_

dynamicgraph::Vector	velocity_

bool	withForceSignals [4]

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

Detailed Description

Definition at line 49 of file robot-simu.hh.

Constructor & Destructor Documentation

◆ RobotSimu()

dynamicgraph::sot::RobotSimu::RobotSimu ( const std::string & inName )

Definition at line 18 of file robot-simu.cpp.

Member Function Documentation

◆ getClassName()

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

inlinevirtual

Reimplemented from dynamicgraph::sot::Device.

Definition at line 53 of file robot-simu.hh.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::RobotSimu::CLASS_NAME

static

Definition at line 52 of file robot-simu.hh.

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

Public Member Functions

Static Public Attributes