dynamic_graph::DeviceSimulator Class Reference

Inheritance diagram for dynamic_graph::DeviceSimulator:

Collaboration diagram for dynamic_graph::DeviceSimulator:

Public Member Functions
	DeviceSimulator (const std::string &input_name)
	DeviceSimulator is the constructor. More...
	~DeviceSimulator ()
	Destroy the DeviceSimulator object.
virtual void	initialize (const YAML::Node &params)
	This method is hinerited from the Device class. More...
virtual void	initialize_from_file (const std::string &yaml_file)
	This method is hinerited from the Device class. More...
virtual void	execute_graph ()
	This method is hinerited from the Device class. More...
Public Member Functions inherited from dynamic_graph::Device
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
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...
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	simu_motor_controls_out_
	simu_motor_controls_out_ is the output motor control for each joint. More...
DeviceInSignalMap	simu_sensors_in_
	simu_sensors_in_ is a map of device output signals. More...
Public Attributes inherited from dynamic_graph::Device
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.
Static Public Attributes inherited from dynamic_graph::Device
static const std::string	CLASS_NAME
	This is the name of the classe that is used to store the object in the dynamic graph.

Additional Inherited Members
Protected Attributes inherited from dynamic_graph::Device
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

DeviceSimulator()

dynamic_graph::DeviceSimulator::DeviceSimulator

(

const std::string &

input_name

)

DeviceSimulator is the constructor.

The name allow the DynamicGraph to identify the entity.

Parameters

[in]

name

is the DynamicGraph identifyer.

Member Function Documentation

execute_graph()

void dynamic_graph::DeviceSimulator::execute_graph ( )

virtual

This method is hinerited from the Device class.

"execute_graph" is the method that execute the graph.

In order it does:

• Copy the simulation input sensor into the output sensor signals
• Execute a first set of synchrounous commands.
• Execute the graph.
• Execute a second set of synchronous commands.
• Copy the control input into the simulation control output signals

Reimplemented from dynamic_graph::Device.

initialize()

void dynamic_graph::DeviceSimulator::initialize ( const YAML::Node &  params )

virtual

This method is hinerited from the Device class.

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

Parameters

params

is the yaml file used to initialize the device

Reimplemented from dynamic_graph::Device.

initialize_from_file()

void dynamic_graph::DeviceSimulator::initialize_from_file ( const std::string &  yaml_file )

virtual

This method is hinerited from the Device class.

"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 from dynamic_graph::Device.

Member Data Documentation

simu_motor_controls_out_

DeviceOutSignalMap dynamic_graph::DeviceSimulator::simu_motor_controls_out_

simu_motor_controls_out_ is the output motor control for each joint.

They are the simulated signals to be plugged to a simulator wrapped as an entity.

simu_sensors_in_

DeviceInSignalMap dynamic_graph::DeviceSimulator::simu_sensors_in_

simu_sensors_in_ is a map of device output signals.

They represent all the sensors belonging to the robot. Feeding these signals IS MANDATORY otherwise accessing this data will make the process crash.

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

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