#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 Types inherited from hrp::Body
enum	ExtraJointType

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 More...

bool	checkJointCommands (const double *i_commands)
	check joint commands are valid or not More...

void	disableDisturbanceObserver ()
	disable disturbance observer More...

void	enableDisturbanceObserver ()
	enable disturbance observer More...

bool	init ()

bool	init ()

void	initializeJointAngle (const char name, const char option)
	initialize joint angle More...

int	lengthDigitalInput ()

int	lengthDigitalOutput ()

size_t	lengthOfExtraServoState (int id)
	get length of extra servo states More...

bool	loadGain ()
	load PD gains More...

int	numBatteries ()
	get the number of batteries More...

int	numThermometers ()
	get the number of thermometers More...

void	oneStep ()
	all processings for one sampling period More...

bool	power (int jid, bool turnon)
	turn on/off power for joint servo More...

bool	power (const char *jname, bool turnon)
	turn on/off power for joint servo More...

void	readAccelerometer (unsigned int i_rank, double *o_accs)
	read accelerometer output More...

void	readBatteryState (unsigned int i_rank, double &o_voltage, double &o_current, double &o_soc)
	read battery state More...

int	readCalibState (int i)
	read calibration status of a joint servo More...

bool	readDigitalInput (char *o_din)

bool	readDigitalOutput (char *o_dout)

int	readDriverTemperature (int i)
	read temperature of motor driver More...

void	readExtraServoState (int id, int *state)
	read extra servo states More...

void	readForceSensor (unsigned int i_rank, double *o_forces)
	read force sensor output More...

void	readGyroSensor (unsigned int i_rank, double *o_rates)
	read gyro sensor output More...

void	readJointAngles (double *o_angles)
	read array of all joint angles[rad] More...

void	readJointCommands (double *o_commands)
	read array of reference angles of joint servo More...

int	readJointCommandTorques (double *o_torques)
	read array of all commanded joint torques[Nm] More...

int	readJointTorques (double *o_torques)
	read array of all joint torques[Nm] More...

void	readJointVelocities (double *o_velocities)
	read array of all joint velocities[rad/s] More...

int	readPDControllerTorques (double *o_torques)
	read array of all pd controller torques[Nm] More...

int	readPowerState (int i)
	read power status of a joint servo More...

void	readPowerStatus (double &o_voltage, double &o_current)
	read voltage and current of the robot power source More...

int	readServoAlarm (int i)
	read alarm information of a joint servo More...

int	readServoState (int i)
	read servo status of a joint servo More...

void	readThermometer (unsigned int i_rank, double &o_temp)
	read thermometer More...

void	removeForceSensorOffset ()
	remove offsets on force sensor outputs More...

	robot ()
	constructor More...

	robot (double dt)
	constructor More...

bool	servo (int jid, bool turnon)
	turn on/off joint servo More...

bool	servo (const char *jname, bool turnon)
	turn on/off joint servo More...

void	setDisturbanceObserverGain (double gain)
	set disturbance observer gain More...

bool	setJointControlMode (const char *i_jname, joint_control_mode mode)
	set control mode of joint More...

bool	setJointInertia (const char *i_jname, double i_mn)
	set joint inertia More...

void	setJointInertias (const double *i_mn)
	set joint inertias More...

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 More...

bool	setServoErrorLimit (const char *i_jname, double i_limit)
	set servo error limit value for specific joint or joint group More...

bool	setServoGainPercentage (const char *i_jname, double i_percentage)
	set the parcentage to the default servo gain More...

bool	setServoTorqueGainPercentage (const char *i_jname, double i_percentage)
	set the parcentage to the default servo torque gain More...

void	startForceSensorCalibration ()
	start force sensor calibration and wait until finish More...

void	startInertiaSensorCalibration ()
	start inertia sensor calibration and wait until finish More...

void	writeAccelerationCommands (const double *i_commands)
	write array of reference accelerations of joint servo More...

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 More...

void	writeTorqueCommands (const double *i_commands)
	write array of reference torques of joint servo More...

void	writeVelocityCommands (const double *i_commands)
	write array of reference velocities of joint servo More...

	~robot ()
	destructor More...

	~robot ()
	destructor More...

Public Member Functions inherited from hrp::Body
void	addSensor (Sensor *sensor, int sensorType, int id)

	Body ()

	Body (const Body &org)

void	calcAngularMomentumJacobian (Link *base, dmatrix &H)

Vector3	calcCM ()

void	calcCMJacobian (Link *base, dmatrix &J)

void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)

void	calcInverseDynamics (Link *link, Vector3 &out_f, Vector3 &out_tau)

void	calcMassMatrix (dmatrix &out_M)

double	calcTotalMass ()

void	calcTotalMomentum (Vector3 &out_P, Vector3 &out_L)

void	calcTotalMomentumFromJacobian (Vector3 &out_P, Vector3 &out_L)

void	clearExternalForces ()

void	clearSensorValues ()

Light *	createLight (Link *link, int lightType, const std::string &name)

Sensor *	createSensor (Link *link, int sensorType, int id, const std::string &name)

void	getDefaultRootPosition (Vector3 &out_p, Matrix33 &out_R)

JointPathPtr	getJointPath (Link baseLink, Link targetLink)

void	initializeConfiguration ()

bool	installCustomizer ()

bool	installCustomizer (BodyCustomizerInterface *customizerInterface)

bool	isStaticModel ()

Link *	joint (int id) const

const std::vector< Link *> &	joints () const

Light *	light (const std::string &name)

Link *	link (int index) const

Link *	link (const std::string &name) const

const LinkTraverse &	links () const

const LinkTraverse &	linkTraverse () const

const std::string &	modelName ()

const std::string &	name ()

unsigned int	numJoints () const

unsigned int	numLinks () const

unsigned int	numSensors (int sensorType) const

unsigned int	numSensorTypes () const

void	putInformation (std::ostream &out)

Link *	rootLink () const

Sensor *	sensor (int sensorType, int sensorId) const

TSensor *	sensor (const std::string &name) const

TSensor *	sensor (int id) const

void	setColumnOfMassMatrix (dmatrix &M, int column)

void	setDefaultRootPosition (const Vector3 &p, const Matrix33 &R)

void	setModelName (const std::string &name)

void	setName (const std::string &name)

void	setRootLink (Link *link)

void	setVirtualJointForces ()

double	totalMass () const

void	updateLinkColdetModelPositions ()

void	updateLinkTree ()

virtual	~Body ()

Public Member Functions inherited from hrp::Referenced
	Referenced ()

virtual	~Referenced ()

Public Attributes
double	m_accLimit

double	m_fzLimitRatio

double	m_maxZmpError

std::vector< double >	m_servoErrorLimit

double	m_servoOnDelay

Public Attributes inherited from hrp::Body
	EJ_XY

	EJ_XYZ

	EJ_Z

std::vector< ExtraJoint >	extraJoints

Private Member Functions
void	calibrateForceSensorOneStep ()
	calibrate force sensor for one sampling period More...

void	calibrateInertiaSensorOneStep ()
	calibrate inertia sensor for one sampling period More...

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 More...

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

Additional Inherited Members
Static Public Member Functions inherited from hrp::Body
static BodyInterface *	bodyInterface ()

Protected Member Functions inherited from hrp::Referenced
int	refCounter ()

Detailed Description

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

Member Enumeration Documentation

◆ emg_reason

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() [1/2]

robot::robot ( double dt )

constructor

Parameters

dt	sampling time

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

◆ ~robot() [1/2]

robot::~robot ( )

destructor

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

◆ robot() [2/2]

robot::robot ( )

constructor

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

◆ ~robot() [2/2]

robot::~robot ( )

destructor

Member Function Documentation

◆ addJointGroup()

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

Definition at line 900 of file RobotHardware/robot.cpp.

◆ calibrateForceSensorOneStep()

void robot::calibrateForceSensorOneStep ( )

private

calibrate force sensor for one sampling period

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

◆ calibrateInertiaSensorOneStep()

void robot::calibrateInertiaSensorOneStep ( )

private

calibrate inertia sensor for one sampling period

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

◆ checkEmergency()

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 665 of file RobotHardware/robot.cpp.

◆ checkJointCommands()

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 630 of file RobotHardware/robot.cpp.

◆ disableDisturbanceObserver()

void robot::disableDisturbanceObserver ( )

disable disturbance observer

Definition at line 1030 of file RobotHardware/robot.cpp.

◆ enableDisturbanceObserver()

void robot::enableDisturbanceObserver ( )

enable disturbance observer

Definition at line 1023 of file RobotHardware/robot.cpp.

◆ gain_control() [1/2]

void robot::gain_control ( )

private

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

◆ gain_control() [2/2]

void robot::gain_control ( int id )

private

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

◆ init() [1/2]

bool robot::init ( )

◆ init() [2/2]

bool robot::init ( )

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

◆ initializeJointAngle()

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.

◆ isBusy()

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 496 of file RobotHardware/robot.cpp.

◆ lengthDigitalInput()

int robot::lengthDigitalInput ( )

Definition at line 928 of file RobotHardware/robot.cpp.

◆ lengthDigitalOutput()

int robot::lengthDigitalOutput ( )

Definition at line 947 of file RobotHardware/robot.cpp.

◆ lengthOfExtraServoState()

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 909 of file RobotHardware/robot.cpp.

◆ loadGain()

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.

◆ names2ids()

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

private

Definition at line 883 of file RobotHardware/robot.cpp.

◆ numBatteries()

int robot::numBatteries ( )

get the number of batteries

Returns: the number of batteries

Definition at line 967 of file RobotHardware/robot.cpp.

◆ numThermometers()

int robot::numThermometers ( )

get the number of thermometers

Returns: the number of thermometers

Definition at line 985 of file RobotHardware/robot.cpp.

◆ oneStep()

void robot::oneStep ( )

all processings for one sampling period

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

◆ power() [1/2]

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 437 of file RobotHardware/robot.cpp.

◆ power() [2/2]

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.

◆ readAccelerometer()

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 535 of file RobotHardware/robot.cpp.

◆ readBatteryState()

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 957 of file RobotHardware/robot.cpp.

◆ readCalibState()

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 585 of file RobotHardware/robot.cpp.

◆ readDigitalInput()

bool robot::readDigitalInput ( char * o_din )

Definition at line 919 of file RobotHardware/robot.cpp.

◆ readDigitalOutput()

bool robot::readDigitalOutput ( char * o_dout )

Definition at line 952 of file RobotHardware/robot.cpp.

◆ readDriverTemperature()

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 613 of file RobotHardware/robot.cpp.

◆ readExtraServoState()

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 914 of file RobotHardware/robot.cpp.

◆ readForceSensor()

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 540 of file RobotHardware/robot.cpp.

◆ readGyroSensor()

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 530 of file RobotHardware/robot.cpp.

◆ readJointAngles()

void robot::readJointAngles ( double * o_angles )

read array of all joint angles[rad]

Parameters

o_angles array of all joint angles

Definition at line 510 of file RobotHardware/robot.cpp.

◆ readJointCommands()

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 558 of file RobotHardware/robot.cpp.

◆ readJointCommandTorques()

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 525 of file RobotHardware/robot.cpp.

◆ readJointTorques()

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 520 of file RobotHardware/robot.cpp.

◆ readJointVelocities()

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 515 of file RobotHardware/robot.cpp.

◆ readPDControllerTorques()

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 1014 of file RobotHardware/robot.cpp.

◆ readPowerState()

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 592 of file RobotHardware/robot.cpp.

◆ readPowerStatus()

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 580 of file RobotHardware/robot.cpp.

◆ readServoAlarm()

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 606 of file RobotHardware/robot.cpp.

◆ readServoState()

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 599 of file RobotHardware/robot.cpp.

◆ readThermometer()

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

read thermometer

Parameters

i_rank	rank of thermometer
o_temp	temperature

Definition at line 976 of file RobotHardware/robot.cpp.

◆ removeForceSensorOffset()

void robot::removeForceSensorOffset ( )

remove offsets on force sensor outputs

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

◆ servo() [1/2]

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.

◆ servo() [2/2]

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.

◆ setDisturbanceObserverGain()

void robot::setDisturbanceObserverGain ( double gain )

set disturbance observer gain

Parameters

gain	disturbance observer gain

Definition at line 1037 of file RobotHardware/robot.cpp.

◆ setJointControlMode()

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 1044 of file RobotHardware/robot.cpp.

◆ setJointInertia()

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 994 of file RobotHardware/robot.cpp.

◆ setJointInertias()

void robot::setJointInertias ( const double * i_mn )

set joint inertias

Parameters

i_mns array of joint inertia

Definition at line 1007 of file RobotHardware/robot.cpp.

◆ setProperty()

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

Definition at line 862 of file RobotHardware/robot.cpp.

◆ setServoErrorLimit() [1/2]

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

◆ setServoErrorLimit() [2/2]

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 842 of file RobotHardware/robot.cpp.

◆ setServoGainPercentage()

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 740 of file RobotHardware/robot.cpp.

◆ setServoTorqueGainPercentage()

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 791 of file RobotHardware/robot.cpp.

◆ startForceSensorCalibration()

void robot::startForceSensorCalibration ( )

start force sensor calibration and wait until finish

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

◆ startInertiaSensorCalibration()

void robot::startInertiaSensorCalibration ( )

start inertia sensor calibration and wait until finish

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

◆ writeAccelerationCommands()

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 573 of file RobotHardware/robot.cpp.

◆ writeDigitalOutput()

bool robot::writeDigitalOutput ( const char * i_dout )

Definition at line 937 of file RobotHardware/robot.cpp.

◆ writeDigitalOutputWithMask()

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

Definition at line 942 of file RobotHardware/robot.cpp.

◆ writeJointCommands()

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 545 of file RobotHardware/robot.cpp.

◆ writeTorqueCommands()

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 563 of file RobotHardware/robot.cpp.

◆ writeVelocityCommands()

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 568 of file RobotHardware/robot.cpp.

Member Data Documentation

◆ accel_sum

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

private

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

◆ att_sum

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

private

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

◆ default_dgain

std::vector<double> robot::default_dgain

private

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

◆ default_pgain

std::vector<double> robot::default_pgain

private

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

◆ default_tqdgain

std::vector<double> robot::default_tqdgain

private

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

◆ default_tqpgain

std::vector<double> robot::default_tqpgain

private

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

◆ dgain

std::vector<double> robot::dgain

private

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

◆ force_calib_counter

int robot::force_calib_counter

private

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

◆ force_sum

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

private

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

◆ G

hrp::Vector3 robot::G

private

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

◆ gain_counter

std::vector<double> robot::gain_counter

private

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

◆ gyro_sum

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

private

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

◆ inertia_calib_counter

int robot::inertia_calib_counter

private

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

◆ m_accLimit

double robot::m_accLimit

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

◆ m_calibJointName

std::string robot::m_calibJointName

private

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

◆ m_calibOptions

std::string robot::m_calibOptions

private

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

◆ m_calibRequested

bool robot::m_calibRequested

private

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

◆ m_commandOld

std::vector<double> robot::m_commandOld

private

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

◆ m_dt

double robot::m_dt

private

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

◆ m_enable_poweroff_check

bool robot::m_enable_poweroff_check

private

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

◆ m_fzLimitRatio

double robot::m_fzLimitRatio

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

◆ m_jointGroups

std::map<std::string, std::vector<int> > robot::m_jointGroups

private

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

◆ m_lLegForceSensorId

int robot::m_lLegForceSensorId

private

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

◆ m_maxZmpError

double robot::m_maxZmpError

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

◆ m_pdgainsFilename

std::string robot::m_pdgainsFilename

private

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

◆ m_reportedEmergency

bool robot::m_reportedEmergency

private

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

◆ m_rLegForceSensorId

int robot::m_rLegForceSensorId

private

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

◆ m_servoErrorLimit

std::vector< double > robot::m_servoErrorLimit

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

◆ m_servoOnDelay

double robot::m_servoOnDelay

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

◆ m_velocityOld

std::vector<double> robot::m_velocityOld

private

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

◆ old_dgain

std::vector<double> robot::old_dgain

private

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

◆ old_pgain

std::vector<double> robot::old_pgain

private

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

◆ old_tqdgain

std::vector<double> robot::old_tqdgain

private

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

◆ old_tqpgain

std::vector<double> robot::old_tqpgain

private

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

◆ pgain

std::vector<double> robot::pgain

private

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

◆ tqdgain

std::vector<double> robot::tqdgain

private

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

◆ tqpgain

std::vector<double> robot::tqpgain

private

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

◆ wait_sem

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

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ emg_reason

Constructor & Destructor Documentation

◆ robot() [1/2]

◆ ~robot() [1/2]

◆ robot() [2/2]

◆ ~robot() [2/2]

Member Function Documentation

◆ addJointGroup()

◆ calibrateForceSensorOneStep()

◆ calibrateInertiaSensorOneStep()

◆ checkEmergency()

◆ checkJointCommands()

◆ disableDisturbanceObserver()

◆ enableDisturbanceObserver()

◆ gain_control() [1/2]

◆ gain_control() [2/2]

◆ init() [1/2]

◆ init() [2/2]

◆ initializeJointAngle()

◆ isBusy()

◆ lengthDigitalInput()

◆ lengthDigitalOutput()

◆ lengthOfExtraServoState()

◆ loadGain()

◆ names2ids()

◆ numBatteries()

◆ numThermometers()

◆ oneStep()

◆ power() [1/2]

◆ power() [2/2]

◆ readAccelerometer()

◆ readBatteryState()

◆ readCalibState()

◆ readDigitalInput()

◆ readDigitalOutput()

◆ readDriverTemperature()

◆ readExtraServoState()

◆ readForceSensor()

◆ readGyroSensor()

◆ readJointAngles()

◆ readJointCommands()

◆ readJointCommandTorques()

◆ readJointTorques()

◆ readJointVelocities()

◆ readPDControllerTorques()

◆ readPowerState()

◆ readPowerStatus()

◆ readServoAlarm()

◆ readServoState()

◆ readThermometer()

◆ removeForceSensorOffset()

◆ servo() [1/2]

◆ servo() [2/2]

◆ setDisturbanceObserverGain()

◆ setJointControlMode()

◆ setJointInertia()

◆ setJointInertias()

◆ setProperty()

◆ setServoErrorLimit() [1/2]

◆ setServoErrorLimit() [2/2]

◆ setServoGainPercentage()

◆ setServoTorqueGainPercentage()

◆ startForceSensorCalibration()

◆ startInertiaSensorCalibration()

◆ writeAccelerationCommands()

◆ writeDigitalOutput()

◆ writeDigitalOutputWithMask()

◆ writeJointCommands()

◆ writeTorqueCommands()

◆ writeVelocityCommands()

Member Data Documentation

◆ accel_sum