Inheritance diagram for dg_blmc_robots::DGMSolo12:

Collaboration diagram for dg_blmc_robots::DGMSolo12:

Public Member Functions
	DGMSolo12 ()
	DemoSingleMotor is the constructor.

	~DGMSolo12 ()
	~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. More...

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...

bool	calibrate_joint_position_callback (dg_blmc_robots::JointCalibration::Request &req, dg_blmc_robots::JointCalibration::Response &res)
	Ros callback for the callibration procedure. More...

Private Member Functions
void	calibrate_joint_position (const blmc_robots::Vector12d &zero_to_index_angle)
	Calibrate the robot joint position. More...

Private Attributes
blmc_robots::Solo12	solo_
	Entries for the real hardware. More...

blmc_robots::Vector12d	ctrl_joint_torques_
	ctrl_joint_torques_ the joint torques to be sent. More...

bool	was_in_safety_mode_
	Check if we entered once in the safety mode and stay there if so.

blmc_robots::Vector12d	zero_to_index_angle_from_file_
	These are the calibration value extracted from the paramters. More...

Member Function Documentation

void dg_blmc_robots::DGMSolo12::calibrate_joint_position ( const blmc_robots::Vector12d & zero_to_index_angle )

private

Calibrate the robot joint position.

Parameters

zero_to_index_angle is the angle between the theoretical zero and the next positive angle.

bool dg_blmc_robots::DGMSolo12::calibrate_joint_position_callback	(	dg_blmc_robots::JointCalibration::Request &	req,
		dg_blmc_robots::JointCalibration::Response &	res
	)

Ros callback for the callibration procedure.

Warning the robot will move to the next the joint index and back to "0" upon this call. Be sure that no controller are running in parallel.

Parameters

req	nothing
res	True if everything went well.

Returns: true if everything went well.; false if something went wrong.

void dg_blmc_robots::DGMSolo12::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]

Joint data.

Additional data.

Robot status.

void dg_blmc_robots::DGMSolo12::initialize_hardware_communication_process ( )

initialize_hardware_communication_process is the function that initialize the hardware.

Load the calibration parameters.

Initialize the user commands.

void dg_blmc_robots::DGMSolo12::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

Member Data Documentation

blmc_robots::Vector12d dg_blmc_robots::DGMSolo12::ctrl_joint_torques_

private

ctrl_joint_torques_ the joint torques to be sent.

Used in this class to perform a local copy of the control. This is need in order to send this copy to the blmc_robots::Solo class

blmc_robots::Solo12 dg_blmc_robots::DGMSolo12::solo_

private

Entries for the real hardware.

test_bench_ the real test bench hardware drivers.

blmc_robots::Vector12d dg_blmc_robots::DGMSolo12::zero_to_index_angle_from_file_

private

These are the calibration value extracted from the paramters.

They represent the distance between the theorical zero joint angle and the next jont index.

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

include/dg_blmc_robots/dgm_solo12.hpp
src/dgm_solo12.cpp

Public Member Functions

Private Member Functions

Private Attributes

Member Function Documentation

Member Data Documentation