scl::SRobotIO Struct Reference

#include <SRobotIO.hpp>

Inheritance diagram for scl::SRobotIO:

Collaboration diagram for scl::SRobotIO:

Public Member Functions
	SRobotIO ()
sBool	init (const std::string &arg_robot_name, const sUInt arg_robot_dof)
void	setGcPosition (const Eigen::VectorXd &arg_pos)
void	setGcVelocity (const Eigen::VectorXd &arg_vel)
sBool	printInfo ()
virtual const std::string &	getType () const
virtual const std::string &	getName () const
virtual bool	hasBeenInit () const

Public Attributes
sUInt	dof_
SRobotSensors	sensors_
SRobotActuators	actuators_
std::string	name_
sBool	has_been_init_

Protected Attributes
std::string	type_

Detailed Description

Wraps input (sensor) and output (actuator) data for a robot.

NOTE : Objects of this struct have the same name as their parent robot.

Constructor & Destructor Documentation

scl::SRobotIO::SRobotIO

(

)

Constructor

Member Function Documentation

virtual const std::string& scl::SObject::getName ( ) const

inlinevirtualinherited

Get the object's type

virtual const std::string& scl::SObject::getType ( ) const

inlinevirtualinherited

Get the object's type

virtual bool scl::SObject::hasBeenInit ( ) const

inlinevirtualinherited

Get the object's type

sBool scl::SRobotIO::init	(	const std::string &	arg_robot_name,
		const sUInt	arg_robot_dof
	)

Initializes the io data structure

sBool scl::SRobotIO::printInfo

(

)

Prints all the robot info to the screen

void scl::SRobotIO::setGcPosition ( const Eigen::VectorXd &  arg_pos )

inline

Joint positions and velocities are necessary and sufficient to determine the system's state.

void scl::SRobotIO::setGcVelocity ( const Eigen::VectorXd &  arg_vel )

inline

Joint positions and velocities are necessary and sufficient to determine the system's state.

Member Data Documentation

SRobotActuators scl::SRobotIO::actuators_

Stores the controller's and GUI's output to the real world (or simulation).

sUInt scl::SRobotIO::dof_

The degrees of freedom of the robot that these sensors monitor

sBool scl::SObject::has_been_init_

inherited

Whether the object is ready for use

std::string scl::SObject::name_

inherited

The object's name

SRobotSensors scl::SRobotIO::sensors_

Stores information from the real world (or simulation)

std::string scl::SObject::type_

protectedinherited

The object's type. Should only be set by the constructor

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The documentation for this struct was generated from the following files:

• /home/samir/Code/control/scl.git/src/scl/data_structs/SRobotIO.hpp
• /home/samir/Code/control/scl.git/src/scl/data_structs/SRobotIO.cpp