class FMInterfaceTemplate

Declaration

class FMInterfaceTemplate : public RobotInterfaceBase { /* full declaration omitted */ };

Declared at: robot_manager/include/robot_interface/FMInterfaceTemplate.h:16

Inherits from: RobotInterfaceBase

Member Variables

private bool gc_initialized_ = false

private std::chrono::milliseconds connection_timeout_

private int first_update_

private std::string connection_error_

private uint64_t last_state_stamp_ = 0

private std::chrono::steady_clock::time_point last_state_arrival_

Inherited from RobotInterfaceBase:

protected control_mode_ = POSITION

Method Overview

• public FMInterfaceTemplate(const std::string & name, const mc_rtc::Configuration & config, uint8_t buffer_size = 6)
• private void checkConnection()
• public std::string connectionError() const
• public void init()
• public bool isInitialized() const
• public void reset()
• public void stop()
• public void updateControl(robot_controller::Controller & gc)
• public void updateSensors(robot_controller::Controller & gc)

Inherited from RobotInterfaceBase:

• public bufferSize
• public communication
• public config
• public connectionError
• public control
• public controlThread
• public dt
• public init
• public isInitialized
• public loadConfig
• public name
• public reset
• public setCommunication
• public stop
• public updateControl
• public updateSensors

Methods

¶FMInterfaceTemplate(
    const std::string& name,
    const mc_rtc::Configuration& config,
    uint8_t buffer_size = 6)

Declared at: robot_manager/include/robot_interface/FMInterfaceTemplate.h:19

Parameters

const std::string& name

const mc_rtc::Configuration& config

uint8_t buffer_size = 6

¶void checkConnection()

Declared at: robot_manager/include/robot_interface/FMInterfaceTemplate.h:38

¶std::string connectionError() const

Description

Why the connection to the robot counts as lost, or empty while it is fine. The manager stops the controller as soon as one robot reports an error. Updated by updateSensors().

Declared at: robot_manager/include/robot_interface/FMInterfaceTemplate.h:32

¶void init()

Declared at: robot_manager/include/robot_interface/FMInterfaceTemplate.h:21

¶bool isInitialized() const

Description

True once the robot's first state has been passed to the controller. The controller only runs once every robot is initialized.

Declared at: robot_manager/include/robot_interface/FMInterfaceTemplate.h:27

¶void reset()

Declared at: robot_manager/include/robot_interface/FMInterfaceTemplate.h:22

¶void stop()

Declared at: robot_manager/include/robot_interface/FMInterfaceTemplate.h:23

¶void updateControl(
    robot_controller::Controller& gc)

Description

Send the controller's command to the robot.

Declared at: robot_manager/include/robot_interface/FMInterfaceTemplate.h:25

Parameters

robot_controller::Controller& gc

¶void updateSensors(
    robot_controller::Controller& gc)

Description

Pass the latest robot state to the controller.

Declared at: robot_manager/include/robot_interface/FMInterfaceTemplate.h:24

Parameters

robot_controller::Controller& gc