Thread Class Reference

The meat and potatoes of the controller server. More...

#include <Thread.h>

Collaboration diagram for Thread:

List of all members.

Classes
class	ControllerRpcServerCallback
	A callback function which binds the rpc server port opened in the contoller server module to the controller thread's parsing function. More...
class	DebugRpcServerCallback
	A callback function which binds the rpc server port opened in the contoller server module to the controller thread's parsing function. More...
Public Member Functions
	Thread (OcraControllerOptions &controller_options, std::shared_ptr< wbi::wholeBodyInterface > wbi)
virtual	~Thread ()
bool	threadInit ()
void	run ()
void	threadRelease ()
Private Member Functions
ocra_icub::OCRA_ICUB_MESSAGE	convertStringToOcraIcubMessage (const std::string &s)
void	parseIncomingMessage (yarp::os::Bottle &input, yarp::os::Bottle &reply)
void	parseDebugMessage (yarp::os::Bottle &input, yarp::os::Bottle &reply)
void	writeDebugData ()
void	putAnklesIntoIdle (double idleTime)
void	sendTorqueReferenceToDebugJoint (int idx)
bool	setDebugJointToTorqueMode (int idx)
Private Attributes
ocra::Model::Ptr	model
std::shared_ptr < IcubControllerServer >	ctrlServer
Eigen::ArrayXd	minTorques
Eigen::ArrayXd	maxTorques
OcraControllerOptions	ctrlOptions
std::shared_ptr < wbi::wholeBodyInterface >	yarpWbi
Eigen::VectorXd	torques
Eigen::VectorXd	initialPosture
ocra_icub::OCRA_ICUB_MESSAGE	controllerStatus
ControllerRpcServerCallback::shared_ptr	rpcServerCallback
yarp::os::RpcServer	rpcServerPort
int	debugJointIndex
yarp::os::RpcServer	debugRpcPort
yarp::os::Port	debugRefOutPort
yarp::os::Port	debugRealOutPort
DebugRpcServerCallback::shared_ptr	debugRpcCallback
Eigen::VectorXd	measuredTorques
bool	debuggingAllJoints
bool	userHasSetDebugIndex
Eigen::Displacementd	l_foot_disp_inverse
iDynTree::SimpleLeggedOdometry	odometry
Static Private Attributes
static const int	ALL_JOINTS = -1
static const int	TORQUE_MIN = -24
static const int	TORQUE_MAX = 24

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Detailed Description

The meat and potatoes of the controller server.

Todo:

Remove task sequences. This class sets up an ocra::Model which is constructed from an OcraWbiModel and an ocra::Controller which can be specified as either a WocraController, a GocraController, or a HocraController. The thread is looped at the period specified by the user (defaults to 10ms) and on each loop the Model is updated and the control torques are recalculated. *At the writing of this comment, task sequences are still in use and they too are initialized and updated here. They will be removed eventually.*

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Constructor & Destructor Documentation

Thread::Thread	(	OcraControllerOptions &	controller_options,
		std::shared_ptr< wbi::wholeBodyInterface >	wbi
	)

Constructor

Parameters:

controller_options	The various arguments and options used to define what type of controller and tasks to use. See OcraControllerOptions.
wbi	A shared pointer to a wholeBodyInterface object.

Thread::~Thread

(

)

[virtual]

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Member Function Documentation

ocra_icub::OCRA_ICUB_MESSAGE Thread::convertStringToOcraIcubMessage

(

const std::string &

s

)

[private]

void Thread::parseDebugMessage	(	yarp::os::Bottle &	input,
		yarp::os::Bottle &	reply
	)		[private]

void Thread::parseIncomingMessage	(	yarp::os::Bottle &	input,
		yarp::os::Bottle &	reply
	)		[private]

void Thread::putAnklesIntoIdle

(

double

idleTime

)

[private]

void Thread::run

(

)

void Thread::sendTorqueReferenceToDebugJoint

(

int

idx

)

[private]

bool Thread::setDebugJointToTorqueMode

(

int

idx

)

[private]

bool Thread::threadInit

(

)

void Thread::threadRelease

(

)

void Thread::writeDebugData

(

)

[private]

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Member Data Documentation

const int Thread::ALL_JOINTS = -1 [static, private]

Maximum possible actuator torques

ocra_icub::OCRA_ICUB_MESSAGE Thread::controllerStatus [private]

OcraControllerOptions Thread::ctrlOptions [private]

The controller options.

std::shared_ptr<IcubControllerServer> Thread::ctrlServer [private]

bool Thread::debuggingAllJoints [private]

int Thread::debugJointIndex [private]

yarp::os::Port Thread::debugRealOutPort [private]

yarp::os::Port Thread::debugRefOutPort [private]

DebugRpcServerCallback::shared_ptr Thread::debugRpcCallback [private]

Rpc server port callback function.

yarp::os::RpcServer Thread::debugRpcPort [private]

Eigen::VectorXd Thread::initialPosture [private]

The torques calculated at each run() loop.

Eigen::Displacementd Thread::l_foot_disp_inverse [private]

For gazebo visualization. You can't get the l_sole pose directly in gazebo, but you can get the l_foot, so since all poses from ocra::Model are calculated in the l_sole then we need to go from l_sole to l_foot.

Eigen::ArrayXd Thread::maxTorques [private]

An eigen array filled with the max torques.

Eigen::VectorXd Thread::measuredTorques [private]

Eigen::ArrayXd Thread::minTorques [private]

An eigen array filled with the min torques.

ocra::Model::Ptr Thread::model [private]

iDynTree::SimpleLeggedOdometry Thread::odometry [private]

Odometry object

ControllerRpcServerCallback::shared_ptr Thread::rpcServerCallback [private]

Rpc server port callback function.

yarp::os::RpcServer Thread::rpcServerPort [private]

Rpc server port.

const int Thread::TORQUE_MAX = 24 [static, private]

Maximum possible actuator torques

const int Thread::TORQUE_MIN = -24 [static, private]

Minimum possible actuator torques

Eigen::VectorXd Thread::torques [private]

The torques calculated at each run() loop.

bool Thread::userHasSetDebugIndex [private]

std::shared_ptr<wbi::wholeBodyInterface> Thread::yarpWbi [private]

The WBI used to talk to the robot.

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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