ocra_recipes::ControllerServer Class Reference

#include <ControllerServer.h>

Collaboration diagram for ocra_recipes::ControllerServer:

Public Member Functions
	ControllerServer (CONTROLLER_TYPE ctrlType, SOLVER_TYPE solver, bool usingInterprocessCommunication=true, bool useOdometry=false)
virtual	~ControllerServer ()
bool	initialize ()
const Eigen::VectorXd &	computeTorques ()
void	computeTorques (Eigen::VectorXd &torques)
const std::shared_ptr< ocra::Controller >	getController ()
const std::shared_ptr< ocra::Model >	getRobotModel ()
bool	addTasksFromXmlFile (const std::string &filePath)
bool	addTasks (std::vector< ocra::TaskBuilderOptions > &tmOpts)
bool	initializeOdometry ()
void	updateModel ()
void	setRegularizationTermWeights (double wDdq, double wTau, double wFc)

Protected Member Functions
virtual std::shared_ptr< Model >	loadRobotModel ()=0
virtual void	getRobotState (Eigen::VectorXd &q, Eigen::VectorXd &qd, Eigen::Displacementd &H_root, Eigen::Twistd &T_root)=0

Protected Attributes
ocra::Model::Ptr	model
ocra::Controller::Ptr	controller
ocra::Solver::Ptr	internalSolver
bool	firstRun
ServerCommunications::Ptr	serverComs
Eigen::VectorXd	tau
RobotState	rState
Eigen::VectorXd	qdPrevious
Eigen::VectorXd	qPrevious
CONTROLLER_TYPE	controllerType
SOLVER_TYPE	solverType
bool	usingComs
bool	usingOdometry
yarp::os::Bottle	statesBottle
yarp::os::Port	statesPort
std::string	modelFile
std::string	initialFixedFrame

Detailed Description

Definition at line 43 of file ControllerServer.h.

Constructor & Destructor Documentation

ControllerServer::ControllerServer	(	CONTROLLER_TYPE	ctrlType,
		SOLVER_TYPE	solver,
		bool	usingInterprocessCommunication = true,
		bool	useOdometry = false
	)

Definition at line 5 of file ControllerServer.cpp.

ControllerServer::~ControllerServer ( )

virtual

Definition at line 16 of file ControllerServer.cpp.

Member Function Documentation

bool ControllerServer::addTasks

(

std::vector< ocra::TaskBuilderOptions > &

tmOpts

)

Definition at line 132 of file ControllerServer.cpp.

bool ControllerServer::addTasksFromXmlFile

(

const std::string &

filePath

)

Definition at line 126 of file ControllerServer.cpp.

const Eigen::VectorXd & ControllerServer::computeTorques

(

)

Definition at line 101 of file ControllerServer.cpp.

void ControllerServer::computeTorques

(

Eigen::VectorXd &

torques

)

Definition at line 107 of file ControllerServer.cpp.

const std::shared_ptr<ocra::Controller> ocra_recipes::ControllerServer::getController ( )

inline

Definition at line 63 of file ControllerServer.h.

const std::shared_ptr<ocra::Model> ocra_recipes::ControllerServer::getRobotModel ( )

inline

Definition at line 64 of file ControllerServer.h.

virtual void ocra_recipes::ControllerServer::getRobotState ( Eigen::VectorXd &  q, Eigen::VectorXd &  qd, Eigen::Displacementd &  H_root, Eigen::Twistd &  T_root  )

protectedpure virtual

bool ControllerServer::initialize

(

)

Definition at line 22 of file ControllerServer.cpp.

bool ocra_recipes::ControllerServer::initializeOdometry

(

)

If the useOdometry flag is passed to the server, odometry is computed.

• returns: True if properly initialized, false otherwise.

virtual std::shared_ptr<Model> ocra_recipes::ControllerServer::loadRobotModel ( )

protectedpure virtual

void ControllerServer::setRegularizationTermWeights	(	double	wDdq,
		double	wTau,
		double	wFc
	)

Definition at line 138 of file ControllerServer.cpp.

void ControllerServer::updateModel

(

)

Definition at line 113 of file ControllerServer.cpp.

Member Data Documentation

ocra::Controller::Ptr ocra_recipes::ControllerServer::controller

protected

Definition at line 82 of file ControllerServer.h.

CONTROLLER_TYPE ocra_recipes::ControllerServer::controllerType

protected

Definition at line 98 of file ControllerServer.h.

bool ocra_recipes::ControllerServer::firstRun

protected

Definition at line 85 of file ControllerServer.h.

std::string ocra_recipes::ControllerServer::initialFixedFrame

protected

Definition at line 108 of file ControllerServer.h.

ocra::Solver::Ptr ocra_recipes::ControllerServer::internalSolver

protected

Definition at line 83 of file ControllerServer.h.

ocra::Model::Ptr ocra_recipes::ControllerServer::model

protected

Definition at line 81 of file ControllerServer.h.

std::string ocra_recipes::ControllerServer::modelFile

protected

Definition at line 107 of file ControllerServer.h.

Eigen::VectorXd ocra_recipes::ControllerServer::qdPrevious

protected

Definition at line 91 of file ControllerServer.h.

Eigen::VectorXd ocra_recipes::ControllerServer::qPrevious

protected

Definition at line 92 of file ControllerServer.h.

RobotState ocra_recipes::ControllerServer::rState

protected

Definition at line 90 of file ControllerServer.h.

ServerCommunications::Ptr ocra_recipes::ControllerServer::serverComs

protected

Definition at line 87 of file ControllerServer.h.

SOLVER_TYPE ocra_recipes::ControllerServer::solverType

protected

Definition at line 99 of file ControllerServer.h.

yarp::os::Bottle ocra_recipes::ControllerServer::statesBottle

protected

Definition at line 103 of file ControllerServer.h.

yarp::os::Port ocra_recipes::ControllerServer::statesPort

protected

Definition at line 104 of file ControllerServer.h.

Eigen::VectorXd ocra_recipes::ControllerServer::tau

protected

Definition at line 89 of file ControllerServer.h.

bool ocra_recipes::ControllerServer::usingComs

protected

Definition at line 100 of file ControllerServer.h.

bool ocra_recipes::ControllerServer::usingOdometry

protected

Definition at line 101 of file ControllerServer.h.

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

• ControllerServer.h
• ControllerServer.cpp