sot-core
4.11.4
Hierarchical task solver plug-in for dynamic-graph.
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17 #ifndef __sot_torque_control_parameter_server_H__
18 #define __sot_torque_control_parameter_server_H__
25 #if defined(__sot_torque_parameter_server_H__)
26 #define SOTParameterServer_EXPORT __declspec(dllexport)
28 #define SOTParameterServer_EXPORT __declspec(dllimport)
31 #define SOTParameterServer_EXPORT
38 #include "boost/assign.hpp"
39 #include <dynamic-graph/signal-helper.h>
52 #define CTRL_MODE_TRANSITION_TIME_STEP 1000.0
55 :
public ::dynamicgraph::Entity {
57 DYNAMIC_GRAPH_ENTITY_DECL();
68 void init(
const double &dt,
const std::string &urdfFile,
69 const std::string &robotRef);
75 void init_simple(
const double &dt);
81 void setNameToId(
const std::string &jointName,
const double &jointId);
82 void setJointLimitsFromId(
const double &jointId,
const double &lq,
86 void setForceLimitsFromId(
const double &jointId,
87 const dynamicgraph::Vector &lq,
88 const dynamicgraph::Vector &uq);
89 void setForceNameToForceId(
const std::string &forceName,
90 const double &forceId);
94 void setRightFootSoleXYZ(
const dynamicgraph::Vector &);
95 void setRightFootForceSensorXYZ(
const dynamicgraph::Vector &);
96 void setFootFrameName(
const std::string &,
const std::string &);
97 void setImuJointName(
const std::string &);
98 void displayRobotUtil();
102 template <
typename Type>
104 const Type &ParameterValue) {
105 if (!m_initSucceeded) {
106 DYNAMIC_GRAPH_ENTITY_WARNING(*
this)
107 <<
"Cannot set parameter " << ParameterName <<
" to "
108 << ParameterValue <<
" before initialization!\n";
112 m_robot_util->set_parameter<Type>(ParameterName, ParameterValue);
115 template <
typename Type> Type
getParameter(
const std::string &ParameterName) {
117 if (!m_initSucceeded) {
118 DYNAMIC_GRAPH_ENTITY_WARNING(*
this)
119 <<
"Cannot get parameter " << ParameterName
120 <<
" before initialization!\n";
122 return ParameterValue;
124 return m_robot_util->get_parameter<Type>(ParameterName);
129 void setJoints(
const dynamicgraph::Vector &);
132 virtual void display(std::ostream &os)
const;
139 bool m_is_first_iter;
146 bool convertJointNameToJointId(
const std::string &name,
unsigned int &
id);
147 bool isJointInRange(
unsigned int id,
double q);
148 void updateJointCtrlModesOutputSignal();
155 #endif // #ifndef __sot_torque_control_control_manager_H__
RobotUtilShrPtr m_robot_util
Definition: parameter-server.hh:135
void setParameter(const std::string &ParameterName, const Type &ParameterValue)
Definition: parameter-server.hh:103
Definition: abstract-sot-external-interface.hh:17
Type getParameter(const std::string &ParameterName)
Definition: parameter-server.hh:115
std::shared_ptr< RobotUtil > RobotUtilShrPtr
Accessors - This should be changed to RobotUtilPtrShared.
Definition: robot-utils.hh:299
double m_dt
true if the entity has been successfully initialized
Definition: parameter-server.hh:137
int m_iter
true at the first iteration, false otherwise
Definition: parameter-server.hh:142
bool m_initSucceeded
Definition: parameter-server.hh:136
Definition: parameter-server.hh:54
bool m_emergency_stop_triggered
control loop time period
Definition: parameter-server.hh:138
double m_sleep_time
Definition: parameter-server.hh:143
#define SOTParameterServer_EXPORT
Definition: parameter-server.hh:31
~ParameterServer()
Definition: parameter-server.hh:63