OcraControllerOptions Class Reference

#include <Thread.h>

List of all members.

Public Member Functions
	OcraControllerOptions ()
	~OcraControllerOptions ()
Public Attributes
int	threadPeriod
std::string	serverName
std::string	robotName
std::string	startupTaskSetPath
std::string	startupSequence
std::string	wbiConfigFilePath
std::string	urdfModelPath
bool	runInDebugMode
bool	noOutputMode
bool	isFloatingBase
bool	useOdometry
bool	idleAnkles
double	idleAnkleTime
bool	maintainFinalPosture
yarp::os::Property	yarpWbiOptions
ocra_recipes::CONTROLLER_TYPE	controllerType
ocra_recipes::SOLVER_TYPE	solver
double	wDdq
double	wTau
double	wFc

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Constructor & Destructor Documentation

OcraControllerOptions::OcraControllerOptions

(

)

Constructor. Initializes all of the possible values.

OcraControllerOptions::~OcraControllerOptions

(

)

Destructor. Does nothing.

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Member Data Documentation

ocra_recipes::CONTROLLER_TYPE OcraControllerOptions::controllerType

The type of OCRA controller to use.

bool OcraControllerOptions::idleAnkles

A boolean which tells the controller to idle the ankles for a short period and then pass on to normal operation. This is to get the feet flush with the ground.

double OcraControllerOptions::idleAnkleTime

Number of seconds to idle the ankle. By default 1.5s.

bool OcraControllerOptions::isFloatingBase

a boolean which tells the controller whether the robot has a fixed or floating base.

bool OcraControllerOptions::maintainFinalPosture

A boolean which tells the controller to stay in its final posture when the controller is switched to position mode at the end of usage.

bool OcraControllerOptions::noOutputMode

a boolean which runs the controller in a debugging mode but never sends the torques to the robot.

std::string OcraControllerOptions::robotName

a string with the name of the robot.

bool OcraControllerOptions::runInDebugMode

a boolean which runs the controller in a debugging mode which allows one to check the controller ouput joint by joint.

std::string OcraControllerOptions::serverName

a string with the name of the controller server.

ocra_recipes::SOLVER_TYPE OcraControllerOptions::solver

The type of OCRA controller to use.

std::string OcraControllerOptions::startupSequence

a string with the name of a sequence to run **(will be removed)**.

std::string OcraControllerOptions::startupTaskSetPath

a string with the absolute path to an xml file with a set of tasks.

int OcraControllerOptions::threadPeriod

An int representing the looping period of the controller.

std::string OcraControllerOptions::urdfModelPath

Absolute path to the urdf model. Used for the odometry.

bool OcraControllerOptions::useOdometry

a boolean which tells the controller to start the odometry, meaning that the world reference frame remains attached to the ground

std::string OcraControllerOptions::wbiConfigFilePath

The absolute path to the configuration file used to initialize the yarpWBI.

double OcraControllerOptions::wDdq

double OcraControllerOptions::wFc

double OcraControllerOptions::wTau

yarp::os::Property OcraControllerOptions::yarpWbiOptions

Options for the WBI used to update the model.

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

• ocra-wbi-plugins/ocra-icub-server/include/ocra-icub-server/Thread.h
• ocra-wbi-plugins/ocra-icub-server/src/Thread.cpp