Struct robot_interfaces_solo::_SoloXConfig

template<int X>
struct _SoloXConfig

Configuration for a SoloX robot using the master board.

Public Members

std::string network_interface = ""

Name of the network interface to which the robot is connected (e.g.

“eth0”).

std::string slider_serial_port = ""

Name of the serial port to which the hardware slider is connected.

This can typically be left empty, in which case the port is auto-detected.

double max_motor_current_A = 8.0

Maximum current that can be applied to the motors (in Ampere).

Vector<X> home_offset_rad = Vector<X>::Zero()

Offset between home position (=encoder index) and zero position.

Angles (in radian) between the encoder index and the zero position of each joint.

std::string logger_level = "warning"

Logger output level.

One of {“trace”, “debug”, “info”, “warning”, “error”, “critical”, “off”}. See documentation of spdlog for details.

Public Static Functions

static _SoloXConfig<X> from_file(const std::filesystem::path &file)

Load configuration from a YAML file.

Parameters:

file – Path to the file

Returns:

Configuration instance. For parameters not provided in the file the default values are kept.

static _SoloXConfig<X> from_file(const std::filesystem::path &file)

Load configuration from a YAML file.

Parameters:

file – Path to the file

Returns:

Configuration instance. For parameters not provided in the file the default values are kept.