Class solo::DGMSolo12

class DGMSolo12 : public DynamicGraphManager

Public 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.

void get_sensors_to_map(dynamic_graph_manager::VectorDGMap &map)

get_sensors_to_map acquieres the sensors data and feed it to the input/output map

Param :

void set_motor_controls_from_map(const dynamic_graph_manager::VectorDGMap &map)

set_motor_controls_from_map reads the input map that contains the controls and send these controls to the hardware.

Parameters:

map –

void calibrate_joint_position_callback(mim_msgs::srv::JointCalibration::Request::SharedPtr req, mim_msgs::srv::JointCalibration::Response::SharedPtr 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.

Returns:

false if something went wrong.

void compute_safety_controls()

compute_safety_controls computes safety controls very fast in case the dynamic graph is taking to much computation time or has crashed.

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.

void get_sensors_to_map(dynamic_graph_manager::VectorDGMap &map)

get_sensors_to_map acquieres the sensors data and feed it to the input/output map

Param :

void set_motor_controls_from_map(const dynamic_graph_manager::VectorDGMap &map)

set_motor_controls_from_map reads the input map that contains the controls and send these controls to the hardware.

Parameters:

map –

void calibrate_joint_position_callback(mim_msgs::srv::JointCalibration::Request::SharedPtr req, mim_msgs::srv::JointCalibration::Response::SharedPtr 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.

Returns:

false if something went wrong.

void compute_safety_controls()

compute_safety_controls computes safety controls very fast in case the dynamic graph is taking to much computation time or has crashed.