#include <robot.h>

Inheritance diagram for robot:

Public Types
enum	emg_reason { EMG_SERVO_ERROR, EMG_FZ, EMG_SERVO_ALARM, EMG_POWER_OFF }
	reasons of emergency More...
Public Member Functions
bool	addJointGroup (const char *gname, const std::vector< std::string > &jnames)
bool	checkEmergency (emg_reason &o_reason, int &o_id)
	check occurrence of emergency state
bool	checkJointCommands (const double *i_commands)
	check joint commands are valid or not
void	disableDisturbanceObserver ()
	disable disturbance observer
void	enableDisturbanceObserver ()
	enable disturbance observer
bool	init ()
bool	init ()
void	initializeJointAngle (const char name, const char option)
	initialize joint angle
int	lengthDigitalInput ()
int	lengthDigitalOutput ()
size_t	lengthOfExtraServoState (int id)
	get length of extra servo states
bool	loadGain ()
	load PD gains
int	numBatteries ()
	get the number of batteries
int	numThermometers ()
	get the number of thermometers
void	oneStep ()
	all processings for one sampling period
bool	power (int jid, bool turnon)
	turn on/off power for joint servo
bool	power (const char *jname, bool turnon)
	turn on/off power for joint servo
void	readAccelerometer (unsigned int i_rank, double *o_accs)
	read accelerometer output
void	readBatteryState (unsigned int i_rank, double &o_voltage, double &o_current, double &o_soc)
	read battery state
int	readCalibState (int i)
	read calibration status of a joint servo
bool	readDigitalInput (char *o_din)
bool	readDigitalOutput (char *o_dout)
int	readDriverTemperature (int i)
	read temperature of motor driver
void	readExtraServoState (int id, int *state)
	read extra servo states
void	readForceSensor (unsigned int i_rank, double *o_forces)
	read force sensor output
void	readGyroSensor (unsigned int i_rank, double *o_rates)
	read gyro sensor output
void	readJointAngles (double *o_angles)
	read array of all joint angles[rad]
void	readJointCommands (double *o_commands)
	read array of reference angles of joint servo
int	readJointCommandTorques (double *o_torques)
	read array of all commanded joint torques[Nm]
int	readJointTorques (double *o_torques)
	read array of all joint torques[Nm]
void	readJointVelocities (double *o_velocities)
	read array of all joint velocities[rad/s]
int	readPDControllerTorques (double *o_torques)
	read array of all pd controller torques[Nm]
int	readPowerState (int i)
	read power status of a joint servo
void	readPowerStatus (double &o_voltage, double &o_current)
	read voltage and current of the robot power source
int	readServoAlarm (int i)
	read alarm information of a joint servo
int	readServoState (int i)
	read servo status of a joint servo
void	readThermometer (unsigned int i_rank, double &o_temp)
	read thermometer
void	removeForceSensorOffset ()
	remove offsets on force sensor outputs
	robot ()
	constructor
	robot (double dt)
	constructor
bool	servo (int jid, bool turnon)
	turn on/off joint servo
bool	servo (const char *jname, bool turnon)
	turn on/off joint servo
void	setDisturbanceObserverGain (double gain)
	set disturbance observer gain
bool	setJointControlMode (const char *i_jname, joint_control_mode mode)
	set control mode of joint
bool	setJointInertia (const char *i_jname, double i_mn)
	set joint inertia
void	setJointInertias (const double *i_mn)
	set joint inertias
void	setProperty (const char key, const char value)
bool	setServoErrorLimit (const char *i_jname, double i_limit)
	set servo error limit value for specific joint or joint group
bool	setServoErrorLimit (const char *i_jname, double i_limit)
	set servo error limit value for specific joint or joint group
bool	setServoGainPercentage (const char *i_jname, double i_percentage)
	set the parcentage to the default servo gain
bool	setServoTorqueGainPercentage (const char *i_jname, double i_percentage)
	set the parcentage to the default servo torque gain
void	startForceSensorCalibration ()
	start force sensor calibration and wait until finish
void	startInertiaSensorCalibration ()
	start inertia sensor calibration and wait until finish
void	writeAccelerationCommands (const double *i_commands)
	write array of reference accelerations of joint servo
bool	writeDigitalOutput (const char *i_dout)
bool	writeDigitalOutputWithMask (const char i_dout, const char i_mask)
void	writeJointCommands (const double *i_commands)
	write array of reference angles of joint servo
void	writeTorqueCommands (const double *i_commands)
	write array of reference torques of joint servo
void	writeVelocityCommands (const double *i_commands)
	write array of reference velocities of joint servo
	~robot ()
	destructor
	~robot ()
	destructor
Public Attributes
double	m_accLimit
double	m_fzLimitRatio
double	m_maxZmpError
std::vector< double >	m_servoErrorLimit
double	m_servoOnDelay
Private Member Functions
void	calibrateForceSensorOneStep ()
	calibrate force sensor for one sampling period
void	calibrateInertiaSensorOneStep ()
	calibrate inertia sensor for one sampling period
void	gain_control ()
void	gain_control (int id)
bool	isBusy () const
	check if a calibration process is running or not if one of calibration processes is running, false otherwise
bool	names2ids (const std::vector< std::string > &i_names, std::vector< int > &o_ids)
Private Attributes
std::vector< boost::array < double, 3 > >	accel_sum
std::vector< boost::array < double, 3 > >	att_sum
std::vector< double >	default_dgain
std::vector< double >	default_pgain
std::vector< double >	default_tqdgain
std::vector< double >	default_tqpgain
std::vector< double >	dgain
int	force_calib_counter
std::vector< boost::array < double, 6 > >	force_sum
hrp::Vector3	G
std::vector< double >	gain_counter
std::vector< boost::array < double, 3 > >	gyro_sum
int	inertia_calib_counter
std::string	m_calibJointName
std::string	m_calibOptions
bool	m_calibRequested
std::vector< double >	m_commandOld
double	m_dt
bool	m_enable_poweroff_check
std::map< std::string, std::vector< int > >	m_jointGroups
int	m_lLegForceSensorId
std::string	m_pdgainsFilename
bool	m_reportedEmergency
int	m_rLegForceSensorId
std::vector< double >	m_velocityOld
std::vector< double >	old_dgain
std::vector< double >	old_pgain
std::vector< double >	old_tqdgain
std::vector< double >	old_tqpgain
std::vector< double >	pgain
std::vector< double >	tqdgain
std::vector< double >	tqpgain
sem_t	wait_sem

Detailed Description

Definition at line 12 of file RobotHardware/robot.h.

Member Enumeration Documentation

enum robot::emg_reason

reasons of emergency

Enumerator:

EMG_SERVO_ERROR
EMG_FZ
EMG_SERVO_ALARM
EMG_POWER_OFF

Definition at line 254 of file RobotHardware/robot.h.

Constructor & Destructor Documentation

robot::robot ( double dt )

constructor

Parameters:

dt	sampling time

Definition at line 22 of file RobotHardware/robot.cpp.

robot::~robot ( )

destructor

Definition at line 28 of file RobotHardware/robot.cpp.

robot::robot ( )

constructor

Definition at line 9 of file SoftErrorLimiter/robot.cpp.

robot::~robot ( )

destructor

Member Function Documentation

bool robot::addJointGroup	(	const char *	gname,
		const std::vector< std::string > &	jnames
	)

Definition at line 892 of file RobotHardware/robot.cpp.

void robot::calibrateForceSensorOneStep ( ) [private]

calibrate force sensor for one sampling period

Definition at line 303 of file RobotHardware/robot.cpp.

void robot::calibrateInertiaSensorOneStep ( ) [private]

calibrate inertia sensor for one sampling period

Definition at line 243 of file RobotHardware/robot.cpp.

bool robot::checkEmergency	(	emg_reason &	o_reason,
		int &	o_id
	)

check occurrence of emergency state

Parameters:

o_reason	kind of emergency source
o_id	id of sensor/joint of emergency source

Returns:: true if the robot is in emergency state, false otherwise

Definition at line 657 of file RobotHardware/robot.cpp.

bool robot::checkJointCommands ( const double * i_commands )

check joint commands are valid or not

Returns:: true if the joint command is invalid, false otherwise

Definition at line 622 of file RobotHardware/robot.cpp.

void robot::disableDisturbanceObserver ( )

disable disturbance observer

Definition at line 1021 of file RobotHardware/robot.cpp.

void robot::enableDisturbanceObserver ( )

enable disturbance observer

Definition at line 1014 of file RobotHardware/robot.cpp.

void robot::gain_control ( ) [private]

Definition at line 345 of file RobotHardware/robot.cpp.

void robot::gain_control ( int id ) [private]

Definition at line 327 of file RobotHardware/robot.cpp.

bool robot::init ( )

Definition at line 33 of file RobotHardware/robot.cpp.

void robot::initializeJointAngle	(	const char *	name,
		const char *	option
	)

initialize joint angle

Parameters:

name	joint name, part name or all
option	options for initialization

Definition at line 235 of file RobotHardware/robot.cpp.

bool robot::isBusy ( ) const [private]

check if a calibration process is running or not if one of calibration processes is running, false otherwise

Definition at line 488 of file RobotHardware/robot.cpp.

int robot::lengthDigitalInput ( )

Definition at line 920 of file RobotHardware/robot.cpp.

int robot::lengthDigitalOutput ( )

Definition at line 939 of file RobotHardware/robot.cpp.

size_t robot::lengthOfExtraServoState ( int id )

get length of extra servo states

Parameters:

id joint id

Returns:: length of extra servo states

Definition at line 901 of file RobotHardware/robot.cpp.

bool robot::loadGain ( )

load PD gains

Parameters:

fname name of the file where gains are stored

Returns:: true if gains are loaded successufully, false otherwise

Definition at line 112 of file RobotHardware/robot.cpp.

bool robot::names2ids	(	const std::vector< std::string > &	i_names,
		std::vector< int > &	o_ids
	)		`[private]`

Definition at line 875 of file RobotHardware/robot.cpp.

int robot::numBatteries ( )

get the number of batteries

Returns:: the number of batteries

Definition at line 959 of file RobotHardware/robot.cpp.

int robot::numThermometers ( )

get the number of thermometers

Returns:: the number of thermometers

Definition at line 977 of file RobotHardware/robot.cpp.

void robot::oneStep ( )

all processings for one sampling period

Definition at line 351 of file RobotHardware/robot.cpp.

bool robot::power	(	int	jid,
		bool	turnon
	)

turn on/off power for joint servo

Parameters:

jid	joint id of the joint
turnon	true to turn on power, false otherwise

Definition at line 436 of file RobotHardware/robot.cpp.

bool robot::power	(	const char *	jname,
		bool	turnon
	)

turn on/off power for joint servo

Parameters:

jname	name of the joint
turnon	true to turn on power, false otherwise

Definition at line 422 of file RobotHardware/robot.cpp.

void robot::readAccelerometer	(	unsigned int	i_rank,
		double *	o_accs
	)

read accelerometer output

Parameters:

i_rank	rank of accelerometer
o_accs	array of accelerations(length = 3)[rad/s^2]

Definition at line 527 of file RobotHardware/robot.cpp.

void robot::readBatteryState	(	unsigned int	i_rank,
		double &	o_voltage,
		double &	o_current,
		double &	o_soc
	)

read battery state

Parameters:

i_rank	rank of battery
o_voltage	voltage
o_current	current
o_soc	state of charge

Definition at line 949 of file RobotHardware/robot.cpp.

int robot::readCalibState ( int i )

read calibration status of a joint servo

Parameters:

i joint id

Returns:: ON if the joint is already calibrated successfully, OFF otherwise

Definition at line 577 of file RobotHardware/robot.cpp.

bool robot::readDigitalInput ( char * o_din )

Definition at line 911 of file RobotHardware/robot.cpp.

bool robot::readDigitalOutput ( char * o_dout )

Definition at line 944 of file RobotHardware/robot.cpp.

int robot::readDriverTemperature ( int i )

read temperature of motor driver

Parameters:

i joint id

Returns:: 0 if temperature can't be measured

Definition at line 605 of file RobotHardware/robot.cpp.

void robot::readExtraServoState	(	int	id,
		int *	state
	)

read extra servo states

Parameters:

id	joint id
state	array of int where extra servo states are stored

Definition at line 906 of file RobotHardware/robot.cpp.

void robot::readForceSensor	(	unsigned int	i_rank,
		double *	o_forces
	)

read force sensor output

Parameters:

i_rank	rank of force sensor
o_forces	array of force/torque(length = 6)[N, Nm]

Definition at line 532 of file RobotHardware/robot.cpp.

void robot::readGyroSensor	(	unsigned int	i_rank,
		double *	o_rates
	)

read gyro sensor output

Parameters:

i_rank	rank of gyro sensor
o_rates	array of angular velocities(length = 3) [rad/s]

Definition at line 522 of file RobotHardware/robot.cpp.

void robot::readJointAngles ( double * o_angles )

read array of all joint angles[rad]

Parameters:

o_angles array of all joint angles

Definition at line 502 of file RobotHardware/robot.cpp.

void robot::readJointCommands ( double * o_commands )

read array of reference angles of joint servo

Parameters:

o_commands array of reference angles of joint servo[rad]

Definition at line 550 of file RobotHardware/robot.cpp.

int robot::readJointCommandTorques ( double * o_torques )

read array of all commanded joint torques[Nm]

Parameters:

o_torques	array of all commanded joint torques
TRUE	if read successfully, FALSE otherwise

Definition at line 517 of file RobotHardware/robot.cpp.

int robot::readJointTorques ( double * o_torques )

read array of all joint torques[Nm]

Parameters:

o_torques	array of all joint torques
TRUE	if read successfully, FALSE otherwise

Definition at line 512 of file RobotHardware/robot.cpp.

void robot::readJointVelocities ( double * o_velocities )

read array of all joint velocities[rad/s]

Parameters:

o_angles array of all joint velocities

Definition at line 507 of file RobotHardware/robot.cpp.

int robot::readPDControllerTorques ( double * o_torques )

read array of all pd controller torques[Nm]

Parameters:

o_torques	array of all pd controller torques
TRUE	if read successfully, FALSE otherwise

Definition at line 1005 of file RobotHardware/robot.cpp.

int robot::readPowerState ( int i )

read power status of a joint servo

Parameters:

i joint id

Returns:: ON if power for the joint servo is on, OFF otherwise

Definition at line 584 of file RobotHardware/robot.cpp.

void robot::readPowerStatus	(	double &	o_voltage,
		double &	o_current
	)

read voltage and current of the robot power source

Parameters:

o_voltage	voltage
o_current	current
o_battery	remaining battery level ( new feature on 315.4.0)

Definition at line 572 of file RobotHardware/robot.cpp.

int robot::readServoAlarm ( int i )

read alarm information of a joint servo

Parameters:

i joint id

Returns:: 0 if there is no alarm, see iob.h for more details.

Definition at line 598 of file RobotHardware/robot.cpp.

int robot::readServoState ( int i )

read servo status of a joint servo

Parameters:

i joint id

Returns:: ON if the joint servo is on, OFF otherwise

Definition at line 591 of file RobotHardware/robot.cpp.

void robot::readThermometer	(	unsigned int	i_rank,
		double &	o_temp
	)

read thermometer

Parameters:

i_rank	rank of thermometer
o_temp	temperature

Definition at line 968 of file RobotHardware/robot.cpp.

void robot::removeForceSensorOffset ( )

remove offsets on force sensor outputs

Definition at line 105 of file RobotHardware/robot.cpp.

bool robot::servo	(	int	jid,
		bool	turnon
	)

turn on/off joint servo

Parameters:

jid	joint id of the joint
turnon	true to turn on joint servo, false otherwise

Definition at line 390 of file RobotHardware/robot.cpp.

bool robot::servo	(	const char *	jname,
		bool	turnon
	)

turn on/off joint servo

Parameters:

jname	name of the joint
turnon	true to turn on joint servo, false otherwise

Definition at line 364 of file RobotHardware/robot.cpp.

void robot::setDisturbanceObserverGain ( double gain )

set disturbance observer gain

Parameters:

gain	disturbance observer gain

Definition at line 1028 of file RobotHardware/robot.cpp.

bool robot::setJointControlMode	(	const char *	i_jname,
		joint_control_mode	mode
	)

set control mode of joint

Parameters:

name	joint name, part name or "all"
mode	control mode name

Returns:: true if set successfully, false otherwise

Definition at line 1035 of file RobotHardware/robot.cpp.

bool robot::setJointInertia	(	const char *	i_jname,
		double	i_mn
	)

set joint inertia

Parameters:

i_jname	joint name
i_mn	joint inertia

Returns:: true if set successfully, false otherwise

Definition at line 986 of file RobotHardware/robot.cpp.

void robot::setJointInertias ( const double * i_mn )

set joint inertias

Parameters:

i_mns array of joint inertia

Definition at line 998 of file RobotHardware/robot.cpp.

void robot::setProperty	(	const char *	key,
		const char *	value
	)

Definition at line 854 of file RobotHardware/robot.cpp.

bool robot::setServoErrorLimit	(	const char *	i_jname,
		double	i_limit
	)

set servo error limit value for specific joint or joint group

Parameters:

i_jname	joint name or joint group name
i_limit	new limit value[rad]

Returns:: true if set successfully, false otherwise

bool robot::setServoErrorLimit	(	const char *	i_jname,
		double	i_limit
	)

set servo error limit value for specific joint or joint group

Parameters:

i_jname	joint name or joint group name
i_limit	new limit value[rad]

Returns:: true if set successfully, false otherwise

Definition at line 834 of file RobotHardware/robot.cpp.

bool robot::setServoGainPercentage	(	const char *	i_jname,
		double	i_percentage
	)

set the parcentage to the default servo gain

Parameters:

name	joint name, part name or "all"
percentage	to joint servo gain[0-100]

Returns:: true if set successfully, false otherwise

Definition at line 732 of file RobotHardware/robot.cpp.

bool robot::setServoTorqueGainPercentage	(	const char *	i_jname,
		double	i_percentage
	)

set the parcentage to the default servo torque gain

Parameters:

name	joint name, part name or "all"
percentage	to joint servo gain[0-100]

Returns:: true if set successfully, false otherwise

Definition at line 783 of file RobotHardware/robot.cpp.

void robot::startForceSensorCalibration ( )

start force sensor calibration and wait until finish

Definition at line 218 of file RobotHardware/robot.cpp.

void robot::startInertiaSensorCalibration ( )

start inertia sensor calibration and wait until finish

Definition at line 181 of file RobotHardware/robot.cpp.

void robot::writeAccelerationCommands ( const double * i_commands )

write array of reference accelerations of joint servo

Parameters:

i_commands array of reference accelerations of joint servo[rad/s]

Definition at line 565 of file RobotHardware/robot.cpp.

bool robot::writeDigitalOutput ( const char * i_dout )

Definition at line 929 of file RobotHardware/robot.cpp.

bool robot::writeDigitalOutputWithMask	(	const char *	i_dout,
		const char *	i_mask
	)

Definition at line 934 of file RobotHardware/robot.cpp.

void robot::writeJointCommands ( const double * i_commands )

write array of reference angles of joint servo

Parameters:

i_commands array of reference angles of joint servo[rad]

Definition at line 537 of file RobotHardware/robot.cpp.

void robot::writeTorqueCommands ( const double * i_commands )

write array of reference torques of joint servo

Parameters:

i_commands array of reference torques of joint servo[Nm]

Definition at line 555 of file RobotHardware/robot.cpp.

void robot::writeVelocityCommands ( const double * i_commands )

write array of reference velocities of joint servo

Parameters:

i_commands array of reference velocities of joint servo[rad/s]

Definition at line 560 of file RobotHardware/robot.cpp.

Member Data Documentation

std::vector< boost::array<double,3> > robot::accel_sum [private]

Definition at line 386 of file RobotHardware/robot.h.

std::vector< boost::array<double,3> > robot::att_sum [private]

Definition at line 387 of file RobotHardware/robot.h.

std::vector<double> robot::default_dgain [private]

Definition at line 391 of file RobotHardware/robot.h.

std::vector<double> robot::default_pgain [private]

Definition at line 390 of file RobotHardware/robot.h.

std::vector<double> robot::default_tqdgain [private]

Definition at line 393 of file RobotHardware/robot.h.

std::vector<double> robot::default_tqpgain [private]

Definition at line 392 of file RobotHardware/robot.h.

std::vector<double> robot::dgain [private]

Definition at line 391 of file RobotHardware/robot.h.

int robot::force_calib_counter [private]

Definition at line 382 of file RobotHardware/robot.h.

std::vector< boost::array<double,6> > robot::force_sum [private]

Definition at line 388 of file RobotHardware/robot.h.

hrp::Vector3 robot::G [private]

Definition at line 404 of file RobotHardware/robot.h.

std::vector<double> robot::gain_counter [private]

Definition at line 383 of file RobotHardware/robot.h.

std::vector< boost::array<double,3> > robot::gyro_sum [private]

Definition at line 385 of file RobotHardware/robot.h.

int robot::inertia_calib_counter [private]

Definition at line 382 of file RobotHardware/robot.h.

double robot::m_accLimit

Definition at line 330 of file RobotHardware/robot.h.

std::string robot::m_calibJointName [private]

Definition at line 398 of file RobotHardware/robot.h.

std::string robot::m_calibOptions [private]

Definition at line 398 of file RobotHardware/robot.h.

bool robot::m_calibRequested [private]

Definition at line 397 of file RobotHardware/robot.h.

std::vector<double> robot::m_commandOld [private]

Definition at line 403 of file RobotHardware/robot.h.

double robot::m_dt [private]

Definition at line 402 of file RobotHardware/robot.h.

bool robot::m_enable_poweroff_check [private]

Definition at line 405 of file RobotHardware/robot.h.

double robot::m_fzLimitRatio

Definition at line 328 of file RobotHardware/robot.h.

std::map<std::string, std::vector<int> > robot::m_jointGroups [private]

Definition at line 396 of file RobotHardware/robot.h.

int robot::m_lLegForceSensorId [private]

Definition at line 395 of file RobotHardware/robot.h.

double robot::m_maxZmpError

Definition at line 329 of file RobotHardware/robot.h.

std::string robot::m_pdgainsFilename [private]

Definition at line 399 of file RobotHardware/robot.h.

bool robot::m_reportedEmergency [private]

Definition at line 400 of file RobotHardware/robot.h.

int robot::m_rLegForceSensorId [private]

Definition at line 395 of file RobotHardware/robot.h.

std::vector< double > robot::m_servoErrorLimit

Definition at line 327 of file RobotHardware/robot.h.

double robot::m_servoOnDelay

Definition at line 331 of file RobotHardware/robot.h.

std::vector<double> robot::m_velocityOld [private]

Definition at line 403 of file RobotHardware/robot.h.

std::vector<double> robot::old_dgain [private]

Definition at line 391 of file RobotHardware/robot.h.

std::vector<double> robot::old_pgain [private]

Definition at line 390 of file RobotHardware/robot.h.

std::vector<double> robot::old_tqdgain [private]

Definition at line 393 of file RobotHardware/robot.h.

std::vector<double> robot::old_tqpgain [private]

Definition at line 392 of file RobotHardware/robot.h.

std::vector<double> robot::pgain [private]

Definition at line 390 of file RobotHardware/robot.h.

std::vector<double> robot::tqdgain [private]

Definition at line 393 of file RobotHardware/robot.h.

std::vector<double> robot::tqpgain [private]

Definition at line 392 of file RobotHardware/robot.h.

sem_t robot::wait_sem [private]

Definition at line 401 of file RobotHardware/robot.h.

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

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation