dynamicgraph::sot::Device Class Reference

#include <sot/core/device.hh>

Inheritance diagram for dynamicgraph::sot::Device:

List of all members.

Public Types
enum	ForceSignalSource {   FORCE_SIGNAL_RLEG,   FORCE_SIGNAL_LLEG,   FORCE_SIGNAL_RARM,   FORCE_SIGNAL_LARM }
Public Member Functions
virtual const std::string &	getClassName (void) const
	Device (const std::string &name)
virtual	~Device ()
void	setStateSize (const unsigned int &size)
void	setState (const ml::Vector &st)
void	setVelocitySize (const unsigned int &size)
void	setVelocity (const ml::Vector &vel)
void	setSecondOrderIntegration ()
void	increment (const double &dt=5e-2)
virtual void	display (std::ostream &os) const
void	commandLine (const std::string &, std::istringstream &, std::ostream &)
void	setRoot (const ml::Matrix &root)
void	setRoot (const MatrixHomogeneous &worldMwaist)
Public Attributes
dynamicgraph::SignalPtr < ml::Vector, int >	controlSIN
dynamicgraph::SignalPtr < ml::Vector, int >	attitudeSIN
dynamicgraph::SignalPtr < ml::Vector, int >	zmpSIN
dynamicgraph::Signal < ml::Vector, int >	stateSOUT
dynamicgraph::Signal < ml::Vector, int >	velocitySOUT
dynamicgraph::Signal < MatrixRotation, int >	attitudeSOUT
dynamicgraph::Signal < ml::Vector, int > *	forcesSOUT [4]
dynamicgraph::Signal < ml::Vector, int >	pseudoTorqueSOUT
dynamicgraph::Signal < ml::Vector, int >	previousControlSOUT
dynamicgraph::Signal < ml::Vector, int >	motorcontrolSOUT
	The current state of the robot from the command viewpoint.
dynamicgraph::Signal < ml::Vector, int >	ZMPPreviousControllerSOUT
	The ZMP reference send by the previous controller.
Static Public Attributes
static const std::string	CLASS_NAME
Protected Member Functions
void	integrateRollPitchYaw (ml::Vector &state, const ml::Vector &control, double dt)
	Compute roll pitch yaw angles of freeflyer joint.
virtual void	integrate (const double &dt)
	Compute the new position, from the current control.
const MatrixHomogeneous &	freeFlyerPose () const
	Get freeflyer pose.
Protected Attributes
ml::Vector	state_
ml::Vector	velocity_
bool	vel_controlInit_
ml::Vector	vel_control_
bool	secondOrderIntegration_
bool	withForceSignals [4]
PeriodicCall	periodicCallBefore_
PeriodicCall	periodicCallAfter_
MatrixHomogeneous	ffPose_
	Store Position of free flyer joint.
Friends
SOT_CORE_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Device &r)

---

Member Enumeration Documentation

enum dynamicgraph::sot::Device::ForceSignalSource

Enumerator:

FORCE_SIGNAL_RLEG
FORCE_SIGNAL_LLEG
FORCE_SIGNAL_RARM
FORCE_SIGNAL_LARM

---

Constructor & Destructor Documentation

dynamicgraph::sot::Device::Device

(

const std::string &

name

)

virtual dynamicgraph::sot::Device::~Device

(

)

[virtual]

---

Member Function Documentation

void dynamicgraph::sot::Device::commandLine	(	const std::string &	,
		std::istringstream &	,
		std::ostream &
	)		[inline, virtual]

Reimplemented from dynamicgraph::Entity.

virtual void dynamicgraph::sot::Device::display

(

std::ostream &

os

)

const [virtual]

Reimplemented from dynamicgraph::Entity.

const MatrixHomogeneous& dynamicgraph::sot::Device::freeFlyerPose

(

)

const [protected]

Get freeflyer pose.

virtual const std::string& dynamicgraph::sot::Device::getClassName

(

void

)

const [inline, virtual]

Implements dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::RobotSimu.

void dynamicgraph::sot::Device::increment

(

const double &

dt = 5e-2

)

virtual void dynamicgraph::sot::Device::integrate

(

const double &

dt

)

[protected, virtual]

Compute the new position, from the current control.

void dynamicgraph::sot::Device::integrateRollPitchYaw	(	ml::Vector &	state,
		const ml::Vector &	control,
		double	dt
	)		[protected]

Compute roll pitch yaw angles of freeflyer joint.

void dynamicgraph::sot::Device::setRoot

(

const ml::Matrix &

root

)

void dynamicgraph::sot::Device::setRoot

(

const MatrixHomogeneous &

worldMwaist

)

void dynamicgraph::sot::Device::setSecondOrderIntegration

(

)

void dynamicgraph::sot::Device::setState

(

const ml::Vector &

st

)

void dynamicgraph::sot::Device::setStateSize

(

const unsigned int &

size

)

void dynamicgraph::sot::Device::setVelocity

(

const ml::Vector &

vel

)

void dynamicgraph::sot::Device::setVelocitySize

(

const unsigned int &

size

)

---

Friends And Related Function Documentation

SOT_CORE_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Device &	r
	)		[friend]

---

Member Data Documentation

dynamicgraph::SignalPtr<ml::Vector,int> dynamicgraph::sot::Device::attitudeSIN

dynamicgraph::Signal<MatrixRotation,int> dynamicgraph::sot::Device::attitudeSOUT

const std::string dynamicgraph::sot::Device::CLASS_NAME [static]

Reimplemented in dynamicgraph::sot::RobotSimu.

dynamicgraph::SignalPtr<ml::Vector,int> dynamicgraph::sot::Device::controlSIN

MatrixHomogeneous dynamicgraph::sot::Device::ffPose_ [protected]

Store Position of free flyer joint.

dynamicgraph::Signal<ml::Vector,int>* dynamicgraph::sot::Device::forcesSOUT[4]

dynamicgraph::Signal<ml::Vector,int> dynamicgraph::sot::Device::motorcontrolSOUT

The current state of the robot from the command viewpoint.

PeriodicCall dynamicgraph::sot::Device::periodicCallAfter_ [protected]

PeriodicCall dynamicgraph::sot::Device::periodicCallBefore_ [protected]

dynamicgraph::Signal<ml::Vector,int> dynamicgraph::sot::Device::previousControlSOUT

dynamicgraph::Signal<ml::Vector,int> dynamicgraph::sot::Device::pseudoTorqueSOUT

bool dynamicgraph::sot::Device::secondOrderIntegration_ [protected]

ml::Vector dynamicgraph::sot::Device::state_ [protected]

dynamicgraph::Signal<ml::Vector,int> dynamicgraph::sot::Device::stateSOUT

ml::Vector dynamicgraph::sot::Device::vel_control_ [protected]

bool dynamicgraph::sot::Device::vel_controlInit_ [protected]

ml::Vector dynamicgraph::sot::Device::velocity_ [protected]

dynamicgraph::Signal<ml::Vector,int> dynamicgraph::sot::Device::velocitySOUT

bool dynamicgraph::sot::Device::withForceSignals[4] [protected]

dynamicgraph::Signal<ml::Vector,int> dynamicgraph::sot::Device::ZMPPreviousControllerSOUT

The ZMP reference send by the previous controller.

dynamicgraph::SignalPtr<ml::Vector,int> dynamicgraph::sot::Device::zmpSIN