AUTh-ARL Core Stack
0.7
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#include <arm_hand_controller.h>
Public Member Functions | |
ArmHandController () | |
ArmHandController (std::vector< std::shared_ptr< Robot >> robots) | |
ArmHandController (const std::string &name, std::shared_ptr< Robot > arm, std::shared_ptr< Robot > hand) | |
ArmHandController (std::shared_ptr< Robot > arm, std::shared_ptr< Robot > hand) | |
bool | run () |
Public Member Functions inherited from arl::robot::Controller | |
Controller (std::shared_ptr< Robot > r, const std::string &name, Timing timing=FIXED) | |
Constructor which initializes the robot controller. More... | |
~Controller () | |
bool | run () |
The main function that runs the controller. More... | |
bool | runRT () |
Runs the controller with real time priority. More... | |
void | setExternalStop (bool arg) |
Sets an external stop to the controller. Another external thread can use this function to stop the controller. More... | |
std::string | getName () |
Returns the name of the controller. More... | |
double | getTime () const |
Returns the current time since the start of the controller in seconds. More... | |
virtual void | enableLogging (const std::string &log_path="/home/user/autharl_logfiles/") |
Enables the logging by opening files for log benchmarking times and data. More... | |
virtual void | reference (const arma::mat &ref) |
Public Attributes | |
std::shared_ptr< Robot > | arm |
std::shared_ptr< Robot > | hand |
Additional Inherited Members | |
Public Types inherited from arl::robot::Controller | |
enum | Timing { FIXED, DYNAMIC } |
Protected Member Functions inherited from arl::robot::Controller | |
virtual void | init () |
Initializes the controller. More... | |
virtual bool | stop () |
Implements the stopping condition of your controller. More... | |
virtual bool | success () |
Implements the success condition of your controller. More... | |
virtual void | measure () |
Measures the desired data. More... | |
virtual void | command () |
Commands the robot. More... | |
virtual void | update ()=0 |
Performs the necessary calculations of the controller. More... | |
virtual void | waitNextCycle () |
Sets a new reference for the controller. More... | |
Protected Attributes inherited from arl::robot::Controller | |
std::string | name |
The name of the controller. More... | |
bool | external_stop |
The external stopped setted by Controller::setExternalStop() More... | |
std::shared_ptr< Robot > | robot |
The pointer to the robot to be controlled. More... | |
double | t |
The current time t, with t = 0 when the controller is created. Alternatively the user can initialize time durint the init() function of its derived controller. More... | |
double | dt |
The cycle time of the control loop, obtained by the robot. More... | |
bool | stop_flag_ |
utils::Timer | timer |
Used for measuring the current time of the controller. More... | |
utils::Timer | benchmark_total_timer_ |
utils::Timer | benchmark_timer_ |
io::Logger | benchmark_logger_ |
io::Logger | logger_ |
Timing | timing_ |
arl::robot::ArmHandController::ArmHandController | ( | ) |
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explicit |
arl::robot::ArmHandController::ArmHandController | ( | const std::string & | name, |
std::shared_ptr< Robot > | arm, | ||
std::shared_ptr< Robot > | hand | ||
) |
arl::robot::ArmHandController::ArmHandController | ( | std::shared_ptr< Robot > | arm, |
std::shared_ptr< Robot > | hand | ||
) |
bool arl::robot::ArmHandController::run | ( | ) |
std::shared_ptr<Robot> arl::robot::ArmHandController::arm |
std::shared_ptr<Robot> arl::robot::ArmHandController::hand |