Class solo::DGMSolo8

class DGMSolo8 : public DynamicGraphManager

Public Functions

DGMSolo8()

DemoSingleMotor is the constructor.

~DGMSolo8()

~DemoSingleMotor is the destructor.

void initialize_hardware_communication_process()

This function make also sure that the joint velocity do not exceed a certain value.

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)

Parameters:

• req –

• res –

Returns:

true

Returns:

false

DGMSolo8()

DemoSingleMotor is the constructor.

~DGMSolo8()

~DemoSingleMotor is the destructor.

void initialize_hardware_communication_process()

This function make also sure that the joint velocity do not exceed a certain value.

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)

Parameters:

• req –

• res –

Returns:

true

Returns:

false