C++ API and example¶

1. Introduction¶

This page exist in order to extract the examples from the Doxygen documentation, Please have look at the end of this page there are all the examples.

2. C++ API and example¶

class DGMSolo12 : public DynamicGraphManager

#include <dgm_solo12.hpp>

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.

Private Functions

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(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.

Private Members

solo::Solo12 solo_¶

Entries for the real hardware.

solo_ is the hardware drivers.

solo::Vector12d ctrl_joint_torques_¶

ctrl_joint_torques_ the joint torques to be sent.

Used in this class to perform a local copy of the control. This is need in order to send this copy to the solo::Solo class

solo::Vector12d ctrl_joint_positions_¶: Desired joint positions for the PD controller running on the udriver board.

solo::Vector12d ctrl_joint_velocities_¶: Desired joint velocities for the PD controller running on the udriver board.

solo::Vector12d joint_position_gains_¶: P gains for the PD controller running on the udriver board.

solo::Vector12d joint_velocity_gains_¶: D gains for the PD controller running on the udriver board.

bool was_in_safety_mode_¶: Check if we entered once in the safety mode and stay there if so.

solo::Vector12d zero_to_index_angle_from_file_¶

These are the calibration value extracted from the paramters.

They represent the distance between the theorical zero joint angle and the next jont index.

class DGMSolo8 : public DynamicGraphManager

#include <dgm_solo8.hpp>

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

Private Functions

void calibrate_joint_position(const solo::Vector8d &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(const solo::Vector8d &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.

Private Members

solo::Solo8 solo_¶

Entries for the real hardware.

test_bench_ the real test bench hardware drivers.

solo::Vector8d ctrl_joint_torques_¶

ctrl_joint_torques_ the joint torques to be sent.

Used in this class to perform a local copy of the control. This is need in order to send this copy to the solo::Solo class

bool was_in_safety_mode_¶: Check if we entered once in the safety mode and stay there if so.

solo::Vector8d zero_to_index_angle_from_file_¶

These are the calibration value extracted from the paramters.

They represent the distance between the theorical zero joint angle and the next jont index.

class DGMSolo8TI : public DynamicGraphManager

#include <dgm_solo8ti.hpp>

Public Functions

DGMSolo8TI(): DemoSingleMotor is the constructor.

~DGMSolo8TI(): ~DemoSingleMotor is the destructor.

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)

Handle the calibrate_joint callback.

Parameters:

req – ROS request.
res – ROS response.

Returns:

True if calibration was successful, false otherwise.

DGMSolo8TI(): DemoSingleMotor is the constructor.

~DGMSolo8TI(): ~DemoSingleMotor is the destructor.

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)

Handle the calibrate_joint callback.

Parameters:

req – ROS request.
res – ROS response.

Returns:

True if calibration was successful, false otherwise.

Private Functions

void calibrate_joint_position(const solo::Vector8d &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(const solo::Vector8d &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.

Private Members

solo::Solo8TI solo_¶

Entries for the real hardware.

test_bench_ the real test bench hardware drivers.

solo::Vector8d ctrl_joint_torques_¶

ctrl_joint_torques_ the joint torques to be sent.

Used in this class to perform a local copy of the control. This is need in order to send this copy to the solo::Solo class

bool was_in_safety_mode_¶: Check if we entered once in the safety mode and stay there if so.

solo::Vector8d zero_to_index_angle_from_file_¶

These are the calibration value extracted from the paramters.

They represent the distance between the theorical zero joint angle and the next jont index.

class HWPSolo12 : public HardwareProcess

#include <hwp_solo12.hpp>

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.

Private Members

solo::Solo12 solo_¶

Entries for the real hardware.

solo_ is the hardware drivers.

solo::Vector12d ctrl_joint_torques_¶

ctrl_joint_torques_ the joint torques to be sent.

Used in this class to perform a local copy of the control. This is need in order to send this copy to the solo::Solo class

bool was_in_safety_mode_¶: Check if we entered once in the safety mode and stay there if so.

solo::Vector12d zero_to_index_angle_from_file_¶

These are the calibration value extracted from the paramters.

They represent the distance between the theorical zero joint angle and the next jont index.

class Solo8TI

#include <solo8ti.hpp>

Public Functions

Solo8TI(): Solo8 is the constructor of the class.

void initialize(): initialize the robot by setting aligning the motors and calibrate the sensors to 0

void send_target_joint_torque(const Eigen::Ref<Vector8d> target_joint_torque): send_target_torques sends the target currents to the motors

void acquire_sensors(): acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any getter to have up to date data.

bool calibrate(const Vector8d &home_offset_rad)

Calibrate the joints by moving to the next joint index position.

Parameters:: home_offset_rad – This is the angle between the index and the zero pose.
Returns:: true
Returns:: false

inline const Eigen::Ref<Vector8d> get_motor_inertias()

Joint properties.

get_motor_inertias

Returns:: the motor inertias

inline const Eigen::Ref<Vector8d> get_motor_torque_constants()

get_motor_torque_constants

Returns:: the torque constants of each motor

inline const Eigen::Ref<Vector8d> get_joint_gear_ratios()

get_joint_gear_ratios

Returns:: the joint gear ratios

inline const Eigen::Ref<Vector8d> get_motor_max_current()

get_max_torque

Returns:: the max torque that has been hardcoded in the constructor of this class. TODO: parametrize this via yaml or something else.

inline const Eigen::Ref<Vector8d> get_joint_positions()

Sensor Data.

get_joint_positions

Returns:: the joint angle of each module WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vector8d> get_joint_velocities()

get_joint_velocities

Returns:: the joint velocities WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vector8d> get_joint_torques()

get_joint_torques

Returns:: the joint torques WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vector8d> get_joint_target_torques()

get_joint_torques

Returns:: the target joint torques WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vector8d> get_joint_encoder_index()

get_joint_encoder_index

Returns:: the position of the index of the encoders a the motor level WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector4d> get_contact_sensors_states()

get_contact_sensors_states

Returns:: the state of the contacts states WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector4d> get_slider_positions()

get_slider_positions

Returns:: the current sliders positions. WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const std::array<bool, 8> &get_motor_enabled()

Hardware Status.

get_motor_enabled

Returns:: This gives the status (enabled/disabled) of each motors using the joint ordering convention.

inline const std::array<bool, 8> &get_motor_ready()

get_motor_ready

Returns:: This gives the status (enabled/disabled) of each motors using the joint ordering convention.

inline const std::array<bool, 4> &get_motor_board_enabled()

get_motor_board_enabled

Returns:: This gives the status (enabled/disabled of the onboard control cards).

inline const std::array<int, 4> &get_motor_board_errors()

get_motor_board_errors

Returns:: This gives the status (enabled/disabled of the onboard control cards).

Solo8TI(): Solo8 is the constructor of the class.

void initialize(): initialize the robot by setting aligning the motors and calibrate the sensors to 0

void send_target_joint_torque(const Eigen::Ref<Vector8d> target_joint_torque): send_target_torques sends the target currents to the motors

void acquire_sensors(): acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any getter to have up to date data.

bool calibrate(const Vector8d &home_offset_rad)

Calibrate the joints by moving to the next joint index position.

Parameters:: home_offset_rad – This is the angle between the index and the zero pose.
Returns:: true
Returns:: false

inline const Eigen::Ref<Vector8d> get_motor_inertias()

Joint properties.

get_motor_inertias

Returns:: the motor inertias

inline const Eigen::Ref<Vector8d> get_motor_torque_constants()

get_motor_torque_constants

Returns:: the torque constants of each motor

inline const Eigen::Ref<Vector8d> get_joint_gear_ratios()

get_joint_gear_ratios

Returns:: the joint gear ratios

inline const Eigen::Ref<Vector8d> get_motor_max_current()

get_max_torque

Returns:: the max torque that has been hardcoded in the constructor of this class. TODO: parametrize this via yaml or something else.

inline const Eigen::Ref<Vector8d> get_joint_positions()

Sensor Data.

get_joint_positions

Returns:: the joint angle of each module WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vector8d> get_joint_velocities()

get_joint_velocities

Returns:: the joint velocities WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vector8d> get_joint_torques()

get_joint_torques

Returns:: the joint torques WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vector8d> get_joint_target_torques()

get_joint_torques

Returns:: the target joint torques WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vector8d> get_joint_encoder_index()

get_joint_encoder_index

Returns:: the position of the index of the encoders a the motor level WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector4d> get_contact_sensors_states()

get_contact_sensors_states

Returns:: the state of the contacts states WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector4d> get_slider_positions()

get_slider_positions

Returns:: the current sliders positions. WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const std::array<bool, 8> &get_motor_enabled()

Hardware Status.

get_motor_enabled

Returns:: This gives the status (enabled/disabled) of each motors using the joint ordering convention.

inline const std::array<bool, 8> &get_motor_ready()

get_motor_ready

Returns:: This gives the status (enabled/disabled) of each motors using the joint ordering convention.

inline const std::array<bool, 4> &get_motor_board_enabled()

get_motor_board_enabled

Returns:: This gives the status (enabled/disabled of the onboard control cards).

inline const std::array<int, 4> &get_motor_board_errors()

get_motor_board_errors

Returns:: This gives the status (enabled/disabled of the onboard control cards).

Private Members

Vector8d motor_inertias_¶

Motor data.

Joint properties motors inertia.

Vector8d motor_torque_constants_¶: DCM motor torque constants.

Vector8d joint_gear_ratios_¶: joint gear ratios (9).

Vector8d motor_max_current_¶: Max appliable current before the robot shutdown.

Vector8d joint_zero_positions_¶: Offset to the theoretical “0” pose.

Eigen::Array<double, 8, 1> max_joint_torques_¶: Max joint torques (Nm)

std::array<bool, 8> motor_enabled_¶

Hardware status.

This gives the status (enabled/disabled) of each motors using the joint ordering convention.

std::array<bool, 8> motor_ready_¶: This gives the status (enabled/disabled) of each motors using the joint ordering convention.

std::array<bool, 4> motor_board_enabled_¶: This gives the status (enabled/disabled of the onboard control cards).

std::array<int, 4> motor_board_errors_¶: This gives the status (enabled/disabled of the onboard control cards).

Vector8d joint_positions_¶

Joint data.

joint_positions_

Vector8d joint_velocities_¶: joint_velocities_

Vector8d joint_torques_¶: joint_torques_

Vector8d joint_target_torques_¶: joint_target_torques_

Vector8d joint_encoder_index_¶: joint_encoder_index_

Eigen::Vector4d slider_positions_¶

Additional data.

slider_positions_ is the position of the linear potentiometer. Can be used as a joystick input.

Eigen::Vector4d contact_sensors_states_¶: contact_sensors_ is contact sensors at each feet of teh quadruped.

std::array<int, 8> motor_to_card_index_¶

Drivers communication objects.

This map for every motor the card number.

std::array<int, 8> motor_to_card_port_index_¶: This map for every motor the card port.

std::array<CanBus_ptr, 4> can_buses_¶: can_buses_ are the 4 can buses on the robot.

std::array<CanBusMotorBoard_ptr, 4> can_motor_boards_¶: can_motor_boards_ are the 4 can motor board.

std::array<MotorInterface_ptr, 8> motors_¶: motors_ are the objects allowing us to send motor commands and receive data.

blmc_drivers::BlmcJointModules<8> joints_¶: This is the collection of joints that compose the robot.

std::array<bool, 8> reverse_polarities_¶: Address the rotation direction of the motor.

std::array<Slider_ptr, 4> sliders_¶: sliders_ these are analogue input from linear potentiometers.

std::array<ContactSensor_ptr, 4> contact_sensors_¶

contact_sensors_ is the contact sensors at each foot tips.

They also are analogue inputs.

Private Static Attributes

static const double max_joint_torque_security_margin_¶: Security margin on the saturation of the control.

template<int X> class SoloX

#include <solox.hpp>

Interface for the Solo robots using the master board.

This class is templated with the number of joints and can be used for both Solo8 and Solo12 by setting the corresponding number.

Solo8¶

TODO

Solo12¶

Mapping between the DOF and driver boards + motor ports:

FL_HAA: motor board 0, motor port 0, motor index 0
FL_HFE: motor board 1, motor port 1, motor index 3
FL_KFE: motor board 1, motor port 0, motor index 2
FR_HAA: motor board 0, motor port 1, motor index 1
FR_HFE: motor board 2, motor port 1, motor index 5
FR_KFE: motor board 2, motor port 0, motor index 4
HL_HAA: motor board 3, motor port 0, motor index 6
HL_HFE: motor board 4, motor port 1, motor index 9
HL_KFE: motor board 4, motor port 0, motor index 8
HR_HAA: motor board 3, motor port 1, motor index 7
HR_HFE: motor board 5, motor port 1, motor index 11
HR_KFE: motor board 5, motor port 0, motor index 10

This class is templated with the number of joints and can be used for both Solo8 and Solo12 by setting the corresponding number.

Solo8¶

TODO

Solo12¶

Mapping between the DOF and driver boards + motor ports:

FL_HAA: motor board 0, motor port 0, motor index 0
FL_HFE: motor board 1, motor port 1, motor index 3
FL_KFE: motor board 1, motor port 0, motor index 2
FR_HAA: motor board 0, motor port 1, motor index 1
FR_HFE: motor board 2, motor port 1, motor index 5
FR_KFE: motor board 2, motor port 0, motor index 4
HL_HAA: motor board 3, motor port 0, motor index 6
HL_HFE: motor board 4, motor port 1, motor index 9
HL_KFE: motor board 4, motor port 0, motor index 8
HR_HAA: motor board 3, motor port 1, motor index 7
HR_HFE: motor board 5, motor port 1, motor index 11
HR_KFE: motor board 5, motor port 0, motor index 10

Template Parameters:

X – Number of joints of the robot. Should be either 8 or 12.
X – Number of joints of the robot. Should be either 8 or 12.

Public Functions

SoloX(): Solo is the constructor of the class.

void initialize(const std::string &network_id, const std::string &slider_box_port = "auto")

Initialize the robot by setting aligning the motors and calibrate the sensors to 0.

Parameters:

network_id – Name of the network interface for connection to the robot.
slider_box_port – Name of the serial port to which the slider box is connected. Set to “” or “none” if no slider box is used. Set to “auto” to auto-detect the port.

void set_max_current(const double &max_current): Sets the maximum joint torques.

void wait_until_ready(): Wait that the robot enters into the ready states.

bool is_ready(): Check if the robot is ready.

void send_target_joint_torque(const Eigen::Ref<Vectord<X>> target_joint_torque): send_target_torques sends the target currents to the motors.

void send_target_joint_position(const Eigen::Ref<Vectord<X>> target_joint_position): Sets the desired joint position of the P controller running on the card.

void send_target_joint_velocity(const Eigen::Ref<Vectord<X>> target_joint_velocity): Sets the desired joint velocity of the D controller running on the card.

void send_target_joint_position_gains(const Eigen::Ref<Vectord<X>> target_joint_position_gains): Sets the desired joint position gain P for the P controller running on the card.

void send_target_joint_velocity_gains(const Eigen::Ref<Vectord<X>> target_joint_velocity_gains): Sets the desired joint velocity gain D for the D controller running on the card.

void acquire_sensors(): acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any getter to have up to date data.

bool request_calibration(const Vectord<X> &home_offset_rad)

Asynchronously request for the calibration.

Parameters:: home_offset_rad – This is the angle between the index and the zero pose.
Returns:: true in case of success.
Returns:: false in case of failure.

inline const Eigen::Ref<Vectord<X>> get_motor_inertias()

Joint properties.

get_motor_inertias in [kg m^2]

Returns:: Motor inertias.

inline const Eigen::Ref<Vectord<X>> get_motor_torque_constants()

get_motor_torque_constants in []

Returns:: Torque constants of each motor.

inline const Eigen::Ref<Vectord<X>> get_joint_gear_ratios()

get_joint_gear_ratios

Returns:: Joint gear ratios

inline const Eigen::Ref<Vectord<X>> get_motor_max_current()

get_max_torque

Todo:: Parametrize the maximum current via yaml or something else.

Returns:: the max torque that has been hardcoded in the constructor of this class.

inline const Eigen::Ref<Vectord<X>> get_joint_positions()

Sensor Data.

get_joint_positions

Returns:: the joint angle of each module WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vectord<X>> get_joint_velocities()

get_joint_velocities

Returns:: the joint velocities WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vectord<X>> get_joint_torques()

get_joint_torques

Returns:: the joint torques WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vectord<X>> get_joint_target_torques()

get_joint_torques

Returns:: the target joint torques WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vectord<X>> get_joint_encoder_index()

get_joint_encoder_index

Returns:: the position of the index of the encoders a the motor level WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector4d> get_contact_sensors_states()

get_contact_sensors_states

Returns:: the state of the contacts states WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector4d> get_slider_positions()

get_slider_positions

Returns:: the current sliders positions. WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector3d> get_imu_accelerometer()

base accelerometer from imu.

Returns:: WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector3d> get_imu_gyroscope()

base gyroscope from imu.

Returns:: WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector4d> get_imu_attitude()

base attitude quaternion (ordered {x, y, z, w}) from imu.

Returns:: WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector3d> get_imu_linear_acceleration()

base linear acceleration from imu.

Returns:: WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const std::array<bool, X> &get_motor_enabled()

get_motor_enabled

Returns:: This gives the status (enabled/disabled) of each motors using the joint ordering convention.

inline const std::array<bool, X> &get_motor_ready()

get_motor_ready

Returns:: This gives the status (enabled/disabled) of each motors using the joint ordering convention.

inline const std::array<bool, X / 2> &get_motor_board_enabled()

get_motor_board_enabled

Returns:: This gives the status (enabled/disabled of the onboard control cards).

inline const std::array<int, X / 2> &get_motor_board_errors()

get_motor_board_errors

Returns:: This gives the status (enabled/disabled of the onboard control cards).

inline bool has_error() const

has_error

Returns:: Returns true if the robot hardware has an error, false otherwise.

inline bool is_calibrating()

is_calibrating()

Returns:: Returns true if the calibration procedure is running right now.

inline int get_num_sent_command_packets() const: Get total number of command packets sent to the robot.

inline int get_num_lost_command_packets() const: Get number of lost command packets.

inline int get_num_sent_sensor_packets() const: Get total number of sensor packets sent by the robot.

inline int get_num_lost_sensor_packets() const: Get number of lost sensor packets.

SoloX(): Solo is the constructor of the class.

void initialize(const std::string &network_id, const std::string &slider_box_port = "auto")

Initialize the robot by setting aligning the motors and calibrate the sensors to 0.

Parameters:

network_id – Name of the network interface for connection to the robot.
slider_box_port – Name of the serial port to which the slider box is connected. Set to “” or “none” if no slider box is used. Set to “auto” to auto-detect the port.

void set_max_current(const double &max_current): Sets the maximum joint torques.

void wait_until_ready(): Wait that the robot enters into the ready states.

bool is_ready(): Check if the robot is ready.

void send_target_joint_torque(const Eigen::Ref<Vectord<X>> target_joint_torque): send_target_torques sends the target currents to the motors.

void send_target_joint_position(const Eigen::Ref<Vectord<X>> target_joint_position): Sets the desired joint position of the P controller running on the card.

void send_target_joint_velocity(const Eigen::Ref<Vectord<X>> target_joint_velocity): Sets the desired joint velocity of the D controller running on the card.

void send_target_joint_position_gains(const Eigen::Ref<Vectord<X>> target_joint_position_gains): Sets the desired joint position gain P for the P controller running on the card.

void send_target_joint_velocity_gains(const Eigen::Ref<Vectord<X>> target_joint_velocity_gains): Sets the desired joint velocity gain D for the D controller running on the card.

void acquire_sensors(): acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any getter to have up to date data.

bool request_calibration(const Vectord<X> &home_offset_rad)

Asynchronously request for the calibration.

Parameters:: home_offset_rad – This is the angle between the index and the zero pose.
Returns:: true in case of success.
Returns:: false in case of failure.

inline const Eigen::Ref<Vectord<X>> get_motor_inertias()

Joint properties.

get_motor_inertias in [kg m^2]

Returns:: Motor inertias.

inline const Eigen::Ref<Vectord<X>> get_motor_torque_constants()

get_motor_torque_constants in []

Returns:: Torque constants of each motor.

inline const Eigen::Ref<Vectord<X>> get_joint_gear_ratios()

get_joint_gear_ratios

Returns:: Joint gear ratios

inline const Eigen::Ref<Vectord<X>> get_motor_max_current()

get_max_torque

Todo:: Parametrize the maximum current via yaml or something else.

Returns:: the max torque that has been hardcoded in the constructor of this class.

inline const Eigen::Ref<Vectord<X>> get_joint_positions()

Sensor Data.

get_joint_positions

Returns:: the joint angle of each module WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vectord<X>> get_joint_velocities()

get_joint_velocities

Returns:: the joint velocities WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vectord<X>> get_joint_torques()

get_joint_torques

Returns:: the joint torques WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vectord<X>> get_joint_target_torques()

get_joint_torques

Returns:: the target joint torques WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Vectord<X>> get_joint_encoder_index()

get_joint_encoder_index

Returns:: the position of the index of the encoders a the motor level WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector4d> get_contact_sensors_states()

get_contact_sensors_states

Returns:: the state of the contacts states WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector4d> get_slider_positions()

get_slider_positions

Returns:: the current sliders positions. WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector3d> get_imu_accelerometer()

base accelerometer from imu.

Returns:: WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector3d> get_imu_gyroscope()

base gyroscope from imu.

Returns:: WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector4d> get_imu_attitude()

base attitude quaternion (ordered {x, y, z, w}) from imu.

Returns:: WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const Eigen::Ref<Eigen::Vector3d> get_imu_linear_acceleration()

base linear acceleration from imu.

Returns:: WARNING !!!! The method <acquire_sensors>”()” has to be called prior to any getter to have up to date data.

inline const std::array<bool, X> &get_motor_enabled()

get_motor_enabled

Returns:: This gives the status (enabled/disabled) of each motors using the joint ordering convention.

inline const std::array<bool, X> &get_motor_ready()

get_motor_ready

Returns:: This gives the status (enabled/disabled) of each motors using the joint ordering convention.

inline const std::array<bool, X / 2> &get_motor_board_enabled()

get_motor_board_enabled

Returns:: This gives the status (enabled/disabled of the onboard control cards).

inline const std::array<int, X / 2> &get_motor_board_errors()

get_motor_board_errors

Returns:: This gives the status (enabled/disabled of the onboard control cards).

inline bool has_error() const

has_error

Returns:: Returns true if the robot hardware has an error, false otherwise.

inline bool is_calibrating()

is_calibrating()

Returns:: Returns true if the calibration procedure is running right now.

inline int get_num_sent_command_packets() const: Get total number of command packets sent to the robot.

inline int get_num_lost_command_packets() const: Get number of lost command packets.

inline int get_num_sent_sensor_packets() const: Get total number of sensor packets sent by the robot.

inline int get_num_lost_sensor_packets() const: Get number of lost sensor packets.

Public Static Attributes

static const std::string SLIDER_BOX_DISABLED = "none": Set slider box port to this value to disable it.

static const std::string LOGGER_NAME = "solo/Solo": Name of the spdlog logger used by the class.

Private Functions

void initialize_joint_modules()¶

std::vector<odri_control_interface::CalibrationMethod> get_calibration_directions() const¶

void initialize_joint_modules()

std::vector<odri_control_interface::CalibrationMethod> get_calibration_directions() const

void initialize_joint_modules()

std::vector<odri_control_interface::CalibrationMethod> get_calibration_directions() const

void initialize_joint_modules()

std::vector<odri_control_interface::CalibrationMethod> get_calibration_directions() const

void initialize_joint_modules()

std::vector<odri_control_interface::CalibrationMethod> get_calibration_directions() const

void initialize_joint_modules()

std::vector<odri_control_interface::CalibrationMethod> get_calibration_directions() const

Private Members

std::shared_ptr<spdlog::logger> log_¶: Logger.

Vectord<X> motor_inertias_¶

Joint properties.

Motors inertia.

Vectord<X> motor_torque_constants_¶: DCM motor torque constants.

Vectord<X> joint_gear_ratios_¶: joint gear ratios (9).

Vectord<X> motor_max_current_¶: Max appliable current before the robot shutdown.

Vectord<X> joint_zero_positions_¶: Offset to the theoretical “0” pose.

Eigen::Array<double, X, 1> max_joint_torques_¶: Max joint torques (Nm)

std::array<bool, X> motor_enabled_¶

This gives the status (enabled/disabled) of each motors using the joint ordering convention.

Hardware status

std::array<bool, X> motor_ready_¶: This gives the status (enabled/disabled) of each motors using the joint ordering convention.

std::array<bool, X / 2> motor_board_enabled_¶: This gives the status (enabled/disabled of the onboard control cards).

std::array<int, X / 2> motor_board_errors_¶: This gives the status (enabled/disabled of the onboard control cards).

Vectord<X> joint_positions_¶

Joint data.

joint_positions_

Vectord<X> joint_velocities_¶: joint_velocities_

Vectord<X> joint_torques_¶: joint_torques_

Vectord<X> joint_target_torques_¶: joint_target_torques_

Vectord<X> joint_encoder_index_¶: joint_encoder_index_

Eigen::Vector4d slider_positions_¶

slider_positions_ is the position of the linear potentiometer.

Additional data Can be used as a joystick input.

Eigen::Vector4d contact_sensors_states_¶: contact_sensors_ is contact sensors at each feet of teh quadruped.

std::string network_id_¶: This is the name of the network: Left column in ifconfig output.

std::array<int, X> map_joint_id_to_motor_board_id_¶

Map the joint id to the motor board id,.