class ControllerMcRtc

Declaration

class ControllerMcRtc : public Controller { /* full declaration omitted */ };

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:9

Inherits from: Controller

Member Variables

private int impl_

Method Overview

• public ControllerMcRtc(const std::string & configFile)
• public int command(const std::string & robot_name, robot_controller::ControlMode mode) const
• public void initializeRobot(const std::string & robotName, const int & encoderValues)
• public void initializeRobots()
• public bool isRunning() const
• public void run()
• public void setBodySensor(const std::string & robot, const std::string & sensorName, const std::array<double, 4> & orientation, const std::array<double, 3> & angularVelocity, const std::array<double, 3> & linearAcceleration)
• public void setEncoderValues(const std::string & robot, const int & values)
• public void setEncoderVelocities(const std::string & robot, const int & values)
• public void setForceSensor(const std::string & robot, const std::string & sensorName, const std::array<double, 3> & force, const std::array<double, 3> & torque)
• public void setJointTorques(const std::string & robot, const int & values)
• public void start()
• public void stop()
• public double timeStep() const
• public mc_control::MCGlobalController & underlying()

Inherited from Controller:

• public command
• public initializeRobot
• public initializeRobots
• public isRunning
• public run
• public setBodySensor
• public setEncoderValues
• public setEncoderVelocities
• public setForceSensor
• public setJointTorques
• public start
• public stop
• public timeStep

Methods

¶ControllerMcRtc(const std::string& configFile)

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:12

Parameters

const std::string& configFile

¶int command(
    const std::string& robot_name,
    robot_controller::ControlMode mode) const

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:40

Parameters

const std::string& robot_name

robot_controller::ControlMode mode

¶void initializeRobot(const std::string& robotName,
                     const int& encoderValues)

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:38

Parameters

const std::string& robotName

const int& encoderValues

¶void initializeRobots()

Description

Called once after all robots are known, before the control loop starts.

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:36

¶bool isRunning() const

Description

Whether the controller is running.

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:15

¶void run()

Description

Run one control step.

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:14

¶void setBodySensor(
    const std::string& robot,
    const std::string& sensorName,
    const std::array<double, 4>& orientation,
    const std::array<double, 3>& angularVelocity,
    const std::array<double, 3>&
        linearAcceleration)

Description

Set an IMU reading of `robot`: orientation quaternion (w, x, y, z), angular velocity [rad/s] and linear acceleration [m/s²].

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:25

Parameters

const std::string& robot

const std::string& sensorName

const std::array<double, 4>& orientation

const std::array<double, 3>& angularVelocity

const std::array<double, 3>& linearAcceleration

¶void setEncoderValues(const std::string& robot,
                      const int& values)

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:21

Parameters

const std::string& robot

const int& values

¶void setEncoderVelocities(
    const std::string& robot,
    const int& values)

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:22

Parameters

const std::string& robot

const int& values

¶void setForceSensor(
    const std::string& robot,
    const std::string& sensorName,
    const std::array<double, 3>& force,
    const std::array<double, 3>& torque)

Description

Set a force/torque reading of `robot`, in the sensor frame: force [N] and torque [Nm].

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:31

Parameters

const std::string& robot

const std::string& sensorName

const std::array<double, 3>& force

const std::array<double, 3>& torque

¶void setJointTorques(const std::string& robot,
                     const int& values)

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:23

Parameters

const std::string& robot

const int& values

¶void start()

Description

Start running.

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:16

¶void stop()

Description

Stop running.

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:17

¶double timeStep() const

Description

Control period [s].

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:19

¶mc_control::MCGlobalController& underlying()

Declared at: robot_controller/include/robot_controller/mc_rtc/ControllerMcRtc.h:42