JointSimulationDevice Class Reference
#include <ArmarXSimulation/components/RobotUnitSimulation/Devices/JointSimulationDevice.h>
Inheritance diagram for JointSimulationDevice:Classes | |
| struct | JointSimController |
| struct | JointSimControllerBase |
Public Member Functions | |
| JointSimulationDevice (const std::string &name, NameValueMap &ctrlpos, NameValueMap &ctrlvel, NameValueMap &ctrltor) | |
| void | rtSetActiveJointController (JointController *jointCtrl) override |
| Activates the given JointController for this device. More... | |
| Public Member Functions inherited from SensorDeviceTemplate< SensorValue1DoFActuator > | |
| const SensorValue1DoFActuator * | getSensorValue () const final override |
| SensorDeviceTemplate (const std::string &name) | |
| Public Member Functions inherited from SensorDevice | |
| virtual std::string | getReportingFrame () const |
| template<class T > | |
| const T * | getSensorValue () const |
| virtual const SensorValueBase * | getSensorValue () const =0 |
| std::string | getSensorValueType (bool withoutNamespaceSpecifier=false) const |
| Returns the SensorValue's type as a string. More... | |
| virtual void | rtReadSensorValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) |
| This is a hook for implementations to read the sensor value from a bus. More... | |
| SensorDevice (const std::string &name) | |
| Create a SensorDevice with the given name. More... | |
| Public Member Functions inherited from DeviceBase | |
| DeviceBase (const std::string &name) | |
| Create a Device with the given name. More... | |
| const std::string & | getDeviceName () const |
| const std::set< std::string > & | getTags () const |
| bool | hasTag (const std::string &tag) const |
| const char * | rtGetDeviceName () const |
| virtual | ~DeviceBase ()=default |
| Public Member Functions inherited from ControlDevice | |
| ControlDevice (const std::string &name) | |
| Create a ControlDevice with the given name. More... | |
| const std::vector< std::string > & | getControlModes () const |
| JointController * | getJointController (const std::string &mode) |
| const JointController * | getJointController (const std::string &mode) const |
| JointController * | getJointController (std::size_t i) |
| const JointController * | getJointController (std::size_t i) const |
| std::vector< const JointController * > | getJointControllers () const |
| std::map< std::string, std::string > | getJointControllerToTargetTypeNameMap () const |
| JointController * | getJointEmergencyStopController () |
| JointController * | getJointStopMovementController () |
| RobotUnitModule::Devices * | getOwner () const |
| bool | hasJointController (const std::string &mode) const |
| JointController * | rtGetActiveJointController () |
| const std::vector< JointController * > & | rtGetJointControllers () |
| JointController * | rtGetJointEmergencyStopController () |
| JointController * | rtGetJointStopMovementController () |
| void | rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) |
| runs the active Joint Controller and write the target values into the control device More... | |
| virtual void | rtWriteTargetValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) |
| This is a hook for implementations to write the setpoints to a bus. More... | |
Public Attributes | |
| JointSimController< DummyControlTargetEmergencyStop > | jointCtrlESt {"Velocity"} |
| JointSimController< DummyControlTargetStopMovement > | jointCtrlMSt {"Velocity"} |
| JointSimController< ControlTarget1DoFActuatorPosition > | jointCtrlPos {"Position"} |
| JointSimController< ControlTarget1DoFActuatorTorque > | jointCtrlTor {"Torque"} |
| JointSimController< ControlTarget1DoFActuatorVelocity > | jointCtrlVel {"Velocity"} |
| Public Attributes inherited from SensorDeviceTemplate< SensorValue1DoFActuator > | |
| SensorValue1DoFActuator | sensorValue |
Additional Inherited Members | |
| Static Public Attributes inherited from SensorDevice | |
| static const SensorDevicePtr | NullPtr {nullptr} |
| A static const nullptr in case a const ref to a nullptr needs to be returned. More... | |
| Static Public Attributes inherited from ControlDevice | |
| static const ControlDevicePtr | NullPtr {nullptr} |
| A static const nullptr in case a const ref to a nullptr needs to be returned. More... | |
| Protected Member Functions inherited from DeviceBase | |
| void | addDeviceTag (const std::string &tag) |
| adds the given tag to the Device More... | |
| Protected Member Functions inherited from ControlDevice | |
| void | addJointController (JointController *jointCtrl) |
| adds the Joint controller to this ControlDevice More... | |
| ControlTargetBase::ControlDeviceAccessToken | getControlTargetAccessToken () const |
Detailed Description
Definition at line 35 of file JointSimulationDevice.h.
Constructor & Destructor Documentation
◆ JointSimulationDevice()
| JointSimulationDevice | ( | const std::string & | name, |
| NameValueMap & | ctrlpos, | ||
| NameValueMap & | ctrlvel, | ||
| NameValueMap & | ctrltor | ||
| ) |
Member Function Documentation
◆ rtSetActiveJointController()
|
overridevirtual |
Activates the given JointController for this device.
- Exceptions
-
std::logic_error if the Joint controller does not belong to this ControlDevice
Reimplemented from ControlDevice.
Definition at line 56 of file JointSimulationDevice.cpp.
Here is the call graph for this function:Member Data Documentation
◆ jointCtrlESt
| JointSimController<DummyControlTargetEmergencyStop> jointCtrlESt {"Velocity"} |
Definition at line 70 of file JointSimulationDevice.h.
◆ jointCtrlMSt
| JointSimController<DummyControlTargetStopMovement> jointCtrlMSt {"Velocity"} |
Definition at line 71 of file JointSimulationDevice.h.
◆ jointCtrlPos
| JointSimController<ControlTarget1DoFActuatorPosition> jointCtrlPos {"Position"} |
Definition at line 67 of file JointSimulationDevice.h.
◆ jointCtrlTor
| JointSimController<ControlTarget1DoFActuatorTorque> jointCtrlTor {"Torque"} |
Definition at line 69 of file JointSimulationDevice.h.
◆ jointCtrlVel
| JointSimController<ControlTarget1DoFActuatorVelocity> jointCtrlVel {"Velocity"} |
Definition at line 68 of file JointSimulationDevice.h.
The documentation for this class was generated from the following files:
- ArmarXSimulation/components/RobotUnitSimulation/Devices/JointSimulationDevice.h
- ArmarXSimulation/components/RobotUnitSimulation/Devices/JointSimulationDevice.cpp
