Inheritance diagram for dg_blmc_robots::DGMStuggihop:

Collaboration diagram for dg_blmc_robots::DGMStuggihop:

Public Member Functions
	DGMStuggihop ()
	DGMStuggihop is the constructor.

	~DGMStuggihop ()
	~DGMStuggihop is the destructor.

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 acquires the sensors data and feeds 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...

virtual bool	is_in_safety_mode ()
	is_in_safety_mode Implement custom safe-mode detection.

Private Attributes
blmc_robots::Stuggihop	stuggihop_
	Entries for the real hardware. More...

Eigen::Vector2d	ctrl_joint_torques_
	ctrl_joint_torques_ the joint torques to be sent

bool	was_in_safety_mode_
	was_in_safety_mode_ Toggle to keep in safety mode once it was entered.

Member Function Documentation

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

get_sensors_to_map acquires the sensors data and feeds it to the input/output map

Parameters

[in]

Joint data

Additional data

Motor data TODO: erroneous?

Joint data

Additional data

void dg_blmc_robots::DGMStuggihop::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::Stuggihop dg_blmc_robots::DGMStuggihop::stuggihop_

private

Entries for the real hardware.

test_bench_ the real test bench hardware drivers.

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