Inheritance diagram for dg_blmc_robots::DGMQuadrupedSimu:

Collaboration diagram for dg_blmc_robots::DGMQuadrupedSimu:

Public Member Functions
	DGMQuadrupedSimu ()
	DemoSingleMotor is the constructor.

	~DGMQuadrupedSimu ()
	~DemoSingleMotor is the destructor.

bool	is_in_safety_mode ()
	This function make also sure that the joint velocity do not exceed a certain value.

void	initialize_hardware_communication_process ()
	initialize_hardware_communication_process is the function that initialize the hardware.

void	get_sensors_to_map (dynamic_graph::VectorDGMap &map)
	get_sensors_to_map acquieres the sensors data and feed it to the input/output map More...

void	set_motor_controls_from_map (const dynamic_graph::VectorDGMap &map)
	set_motor_controls_from_map reads the input map that contains the controls and send these controls to the hardware. More...

Private Attributes
Vector8d	motor_target_currents_
	Entries for the simulated hardware.

Vector8d	motor_torques_

Vector8d	motor_target_torques_

Vector8d	motor_encoder_indexes_

Vector8d	joint_positions_

Vector8d	joint_velocities_

Vector8d	joint_torques_

Vector8d	joint_target_torques_

Vector4d	contact_sensors_

Vector4d	slider_positions_

Vector8d	motor_enabled_

Vector8d	motor_ready_

Vector4d	motor_board_enabled_

Vector4d	motor_board_errors_

Vector8d	ctrl_joint_torques_

double	motors_inertia_

double	motors_torque_constant_

double	motors_gear_ratio_

Member Function Documentation

void dg_blmc_robots::DGMQuadrupedSimu::get_sensors_to_map ( dynamic_graph::VectorDGMap & map )

get_sensors_to_map acquieres the sensors data and feed it to the input/output map

Parameters

[in]

void dg_blmc_robots::DGMQuadrupedSimu::set_motor_controls_from_map ( const dynamic_graph::VectorDGMap & map )

set_motor_controls_from_map reads the input map that contains the controls and send these controls to the hardware.

Parameters

map

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

Public Member Functions