Class solo::HWPSolo12

class HWPSolo12 : public HardwareProcess

Public Functions

HWPSolo12()

Constructor.

~HWPSolo12()

~Destructor.

bool is_in_safety_mode()

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

void initialize_drivers()

initialize_drivers 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 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.

void calibrate_joint_position(const solo::Vector12d &zero_to_index_angle)

Calibrate the robot joint position.

Parameters:

zero_to_index_angle – is the angle between the theoretical zero and the next positive angle.

void calibrate_joint_position_from_yaml()

Calibrates the robot joint positions using the data from the yaml.

HWPSolo12()

Constructor.

~HWPSolo12()

~Destructor.

bool is_in_safety_mode()

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

void initialize_drivers()

initialize_drivers 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 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.

void calibrate_joint_position(const solo::Vector12d &zero_to_index_angle)

Calibrate the robot joint position.

Parameters:

zero_to_index_angle – is the angle between the theoretical zero and the next positive angle.

void calibrate_joint_position_from_yaml()

Calibrates the robot joint positions using the data from the yaml.