dynamic_graph::Device Class Reference

Inheritance diagram for dynamic_graph::Device:

Collaboration diagram for dynamic_graph::Device:

Public Member Functions
virtual const std::string &	getClassName (void) const
	getClassName is an overloaded function from the class Entity. More...
	Device (const std::string &input_name)
	Device is the constructor. More...
virtual	~Device ()
	~Device is a default destructor that might overloaded
virtual void	initialize (const YAML::Node &params)
	initialize is the function that initialize the device from the YAML paramters More...
virtual void	initialize_from_file (const std::string &yaml_file)
	initialize_from_file is the function that initialize the device from a YAML file. More...
void	initialize_maps (const YAML::Node &sensors_and_controls)
	parse_yaml_file fill in the internal maps for sensors and controls.
virtual void	set_sensors_from_map (const VectorDGMap &sensors)
	set_sensors_from_map is a parser that feed the map "sensors" with the hardware sensor readings. More...
virtual void	execute_graph ()
	execute_graph is a fonction that execute the graph. More...
void	execute_graph_deprecated ()
	execute_graph is a fonction that execute the graph. More...
virtual void	get_controls_to_map (VectorDGMap &motor_controls)
	get_controls_to_map is a parser that feed the map "controls" with the output of the DynamicGraph. More...

Public Attributes
DeviceOutSignalMap	sensors_out_
	sensors_out_ is a map of device output signals. More...
VectorDGMap	sensors_map_
	sensors_map_ is a map of dynamicgraph::Vector. More...
DeviceInSignalMap	motor_controls_in_
	motor_control_in_ is the output motor control for each joint. More...
VectorDGMap	motor_controls_map_
	motor_controls_map_ is a map of dynamicgraph::Vector. More...

Static Public Attributes
static const std::string	CLASS_NAME
	This is the name of the classe that is used to store the object in the dynamic graph.

Protected Attributes
PeriodicCall	periodic_call_before_
	periodic_call_before_ handle the synchronous command call on the device between getting the sensor data and sending the commands. More...
PeriodicCall	periodic_call_after_
	periodic_call_after_ handle the synchronous command call on the device between getting the sensor data and sending the commands. More...
YAML::Node	params_
	params is a YAML node that allow the creation of a modular device

Constructor & Destructor Documentation

Device()

Device::Device

(

const std::string &

input_name

)

Device is the constructor.

The name allow the DynamicGraph to identify the entity

Parameters

params

is the yaml file used to initialize the device

Member Function Documentation

execute_graph()

void Device::execute_graph ( )

virtual

execute_graph is a fonction that execute the graph.

In order it does:

• Execute a first set of synchrounous commands.
• Execute the graph.
• Execute a second set of synchronous commands.

Reimplemented in dynamic_graph::DeviceSimulator.

execute_graph_deprecated()

void dynamic_graph::Device::execute_graph_deprecated ( )

inline

execute_graph is a fonction that execute the graph.

In order it does:

• Execute a first set of synchrounous commands.
• Execute the graph.
• Execute a second set of synchronous commands.

get_controls_to_map()

void Device::get_controls_to_map ( VectorDGMap &  motor_controls )

virtual

get_controls_to_map is a parser that feed the map "controls" with the output of the DynamicGraph.

Parameters

controls

is the map containing the controls.

getClassName()

virtual const std::string& dynamic_graph::Device::getClassName ( void  ) const

inlinevirtual

getClassName is an overloaded function from the class Entity.

It is used to access the class name and do

Returns

the name of the device class

initialize()

void Device::initialize ( const YAML::Node &  params )

virtual

initialize is the function that initialize the device from the YAML paramters

Parameters

params

is the yaml file used to initialize the device

Reimplemented in dynamic_graph::DeviceSimulator.

initialize_from_file()

void Device::initialize_from_file ( const std::string &  yaml_file )

virtual

initialize_from_file is the function that initialize the device from a YAML file.

It loads internally the file and then use the paramters to initialize itself using the "initialize" method.

Parameters

params

is the yaml file used to initialize the device

Reimplemented in dynamic_graph::DeviceSimulator.

set_sensors_from_map()

void Device::set_sensors_from_map ( const VectorDGMap &  sensors )

virtual

set_sensors_from_map is a parser that feed the map "sensors" with the hardware sensor readings.

Parameters

sensors

the sensors data.

Member Data Documentation

motor_controls_in_

DeviceInSignalMap dynamic_graph::Device::motor_controls_in_

motor_control_in_ is the output motor control for each joint.

Feeding this signal IS MANDATORY otherwise accessing this data will make the process crash.

motor_controls_map_

VectorDGMap dynamic_graph::Device::motor_controls_map_

motor_controls_map_ is a map of dynamicgraph::Vector.

They represent all the controls to be sent to the robot.

periodic_call_after_

PeriodicCall dynamic_graph::Device::periodic_call_after_

protected

periodic_call_after_ handle the synchronous command call on the device between getting the sensor data and sending the commands.

Typically used when one wants to evaluate a signal that is not plugged.

periodic_call_before_

PeriodicCall dynamic_graph::Device::periodic_call_before_

protected

periodic_call_before_ handle the synchronous command call on the device between getting the sensor data and sending the commands.

Typically used when one wants to evaluate a signal that is not plugged.

sensors_map_

VectorDGMap dynamic_graph::Device::sensors_map_

sensors_map_ is a map of dynamicgraph::Vector.

They represent all the sensors data measured on the robot.

sensors_out_

DeviceOutSignalMap dynamic_graph::Device::sensors_out_

sensors_out_ is a map of device output signals.

They represent all the sensors belonging to the robot.

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

• include/dynamic_graph_manager/device.hh
• src/device.cpp