diff --git a/.gitignore b/.gitignore
index 1aafec0..ae5db51 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,10 +1,17 @@
CMakeFiles
Makefile
CMakeCache.txt
cmake_install.cmake
*~
.cproject
.project
\#*#
.project
.cproject
+CPackConfig.cmake
+CPackSourceConfig.cmake
+build
+install_manifest.txt
+libOncillaConfig.cmake
+test/CTestTestfile.cmake
+liboncilla.pc
diff --git a/src/.gitignore b/src/.gitignore
new file mode 100644
index 0000000..5fdc064
--- /dev/null
+++ b/src/.gitignore
@@ -0,0 +1 @@
+libOncillaConfig.h
diff --git a/src/Oncilla.cpp b/src/Oncilla.cpp
index 98ec867..550ae20 100644
--- a/src/Oncilla.cpp
+++ b/src/Oncilla.cpp
@@ -1,92 +1,93 @@
/*
* Oncilla.cpp
*
* Created on: 15 dec. 2011
* Author: Alexandre Tuleu, Arne Nordmann
*/
#include "Oncilla.h"
#include "OncillaTrunk.h"
#include "OncillaL01.h"
#include "OncillaL2.h"
#include "OncillaL3.h"
#include "OncillaL4.h"
namespace rci {
namespace oncilla {
-Oncilla::Oncilla() :
- synchronizer(), d_l0s(), d_l1s(), d_l2s(), d_l3s(), d_l4s(), d_trunk() {
-}
-
-Oncilla::~Oncilla() {
- // TODO Auto-generated destructor stub
-}
-
-void Oncilla::init() {
- d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 LEFT FORE")));
- d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 RIGHT FORE")));
- d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 LEFT HIND")));
- d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 RIGHT HIND")));
-
- d_l1s.push_back(
- OncillaL1Ptr(new OncillaL1(*synchronizer, "Oncilla L1 LEFT FORE")));
- d_l1s.push_back(
- OncillaL1Ptr(new OncillaL1(*synchronizer, "Oncilla L1 RIGHT FORE")));
- d_l1s.push_back(
- OncillaL1Ptr(new OncillaL1(*synchronizer, "Oncilla L1 LEFT HIND")));
- d_l1s.push_back(
- OncillaL1Ptr(new OncillaL1(*synchronizer, "Oncilla L1 RIGHT HIND")));
-
- d_l2s.push_back(
- OncillaL2Ptr(new OncillaL2(*synchronizer, "Oncilla L2 LEFT FORE")));
- d_l2s.push_back(
- OncillaL2Ptr(new OncillaL2(*synchronizer, "Oncilla L2 RIGHT FORE")));
- d_l2s.push_back(
- OncillaL2Ptr(new OncillaL2(*synchronizer, "Oncilla L2 LEFT HIND")));
- d_l2s.push_back(
- OncillaL2Ptr(new OncillaL2(*synchronizer, "Oncilla L2 RIGHT HIND")));
-
- d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 LEFT FORE")));
- d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 RIGHT FORE")));
- d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 LEFT HIND")));
- d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 RIGHT HIND")));
-
- d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 LEFT FORE")));
- d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 RIGHT FORE")));
- d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 LEFT HIND")));
- d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 RIGHT HIND")));
-
- d_trunk = OncillaTrunkPtr(new OncillaTrunk("Oncilla Trunk"));
-
-}
-
-OncillaL0Ptr Oncilla::getL0(Leg l) const {
- return this->d_l0s[l];
-}
-
-OncillaL1Ptr Oncilla::getL1(Leg l) const {
- return this->d_l1s[l];
-}
-
-OncillaL2Ptr Oncilla::getL2(Leg l) const {
- return this->d_l2s[l];
-}
-
-OncillaL3Ptr Oncilla::getL3(Leg l) const {
- return this->d_l3s[l];
-}
-
-OncillaL4Ptr Oncilla::getL4(Leg l) const {
- return this->d_l4s[l];
-}
-
-OncillaTrunkPtr Oncilla::getTrunk() const {
- return this->d_trunk;
-}
-
-void Oncilla::setSynchronizer(OncillaSynchronizerPtr sync) {
- this->synchronizer = sync;
-}
+ Oncilla::Oncilla() :
+ synchronizer(), d_l0s(), d_l1s(), d_l2s(), d_l3s(), d_l4s(), d_trunk() {
+ }
+
+ Oncilla::~Oncilla() {
+ // TODO Auto-generated destructor stub
+ }
+
+ void Oncilla::init() {
+ d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 LEFT FORE")));
+ d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 RIGHT FORE")));
+ d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 LEFT HIND")));
+ d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 RIGHT HIND")));
+
+ d_l1s.push_back(OncillaL1Ptr(new OncillaL1(*synchronizer,
+ "Oncilla L1 LEFT FORE")));
+ d_l1s.push_back(OncillaL1Ptr(new OncillaL1(*synchronizer,
+ "Oncilla L1 RIGHT FORE")));
+
+ d_l1s.push_back(OncillaL1Ptr(new OncillaL1(*synchronizer,
+ "Oncilla L1 LEFT HIND")));
+ d_l1s.push_back(OncillaL1Ptr(new OncillaL1(*synchronizer,
+ "Oncilla L1 RIGHT HIND")));
+
+ d_l2s.push_back(OncillaL2Ptr(new OncillaL2(*synchronizer,
+ "Oncilla L2 LEFT FORE")));
+ d_l2s.push_back(OncillaL2Ptr(new OncillaL2(*synchronizer,
+ "Oncilla L2 RIGHT FORE")));
+ d_l2s.push_back(OncillaL2Ptr(new OncillaL2(*synchronizer,
+ "Oncilla L2 LEFT HIND")));
+ d_l2s.push_back(OncillaL2Ptr(new OncillaL2(*synchronizer,
+ "Oncilla L2 RIGHT HIND")));
+
+ d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 LEFT FORE")));
+ d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 RIGHT FORE")));
+ d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 LEFT HIND")));
+ d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 RIGHT HIND")));
+
+ d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 LEFT FORE")));
+ d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 RIGHT FORE")));
+ d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 LEFT HIND")));
+ d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 RIGHT HIND")));
+
+ d_trunk = OncillaTrunkPtr(new OncillaTrunk("Oncilla Trunk"));
+
+ }
+
+ OncillaL0Ptr Oncilla::getL0(Leg l) const {
+ return this->d_l0s[l];
+ }
+
+ OncillaL1Ptr Oncilla::getL1(Leg l) const {
+ return this->d_l1s[l];
+ }
+
+ OncillaL2Ptr Oncilla::getL2(Leg l) const {
+ return this->d_l2s[l];
+ }
+
+ OncillaL3Ptr Oncilla::getL3(Leg l) const {
+ return this->d_l3s[l];
+ }
+
+ OncillaL4Ptr Oncilla::getL4(Leg l) const {
+ return this->d_l4s[l];
+ }
+
+ OncillaTrunkPtr Oncilla::getTrunk() const {
+ return this->d_trunk;
+ }
+
+ void Oncilla::setSynchronizer(OncillaSynchronizerPtr sync) {
+ this->synchronizer = sync;
+ }
}
}
diff --git a/src/Oncilla.h b/src/Oncilla.h
index 0dcdbe5..4d403fc 100644
--- a/src/Oncilla.h
+++ b/src/Oncilla.h
@@ -1,78 +1,80 @@
/*
* Oncilla.h
*
* Created on: 15 dec. 2011
* Author: Alexandre Tuleu, Arne Nordmann
*/
#pragma once
#include <vector>
#include <iostream>
#include <boost/shared_ptr.hpp>
/*
*
*/
/*
*
*/
namespace rci {
namespace oncilla {
class Oncilla;
typedef boost::shared_ptr<Oncilla> OncillaPtr;
class OncillaSynchronizer;
typedef boost::shared_ptr<OncillaSynchronizer> OncillaSynchronizerPtr;
class OncillaTrunk;
typedef boost::shared_ptr<OncillaTrunk> OncillaTrunkPtr;
class OncillaL0;
typedef boost::shared_ptr<OncillaL0> OncillaL0Ptr;
class OncillaL1;
typedef boost::shared_ptr<OncillaL1> OncillaL1Ptr;
class OncillaL2;
typedef boost::shared_ptr<OncillaL2> OncillaL2Ptr;
class OncillaL3;
typedef boost::shared_ptr<OncillaL3> OncillaL3Ptr;
class OncillaL4;
typedef boost::shared_ptr<OncillaL4> OncillaL4Ptr;
class Oncilla {
public:
- enum Leg {
- LEFT_FORE = 0,
- RIGHT_FORE = 1,
- LEFT_HIND = 2,
- RIGHT_HIND = 3,
- NUM_LEGS = 4
- };
-
- Oncilla();
- virtual ~Oncilla();
-
- OncillaL0Ptr getL0(Leg l) const;
- OncillaL1Ptr getL1(Leg l) const;
- OncillaL2Ptr getL2(Leg l) const;
- OncillaL3Ptr getL3(Leg l) const;
- OncillaL4Ptr getL4(Leg l) const;
- OncillaTrunkPtr getTrunk() const;
-
- void setSynchronizer(OncillaSynchronizerPtr synchronizer);
+ enum Leg {
+ LEFT_FORE = 0,
+ RIGHT_FORE = 1,
+ LEFT_HIND = 2,
+ RIGHT_HIND = 3,
+ NUM_LEGS = 4
+ };
+
+ Oncilla();
+ virtual ~Oncilla();
+
+ OncillaL0Ptr getL0(Leg l) const;
+ OncillaL1Ptr getL1(Leg l) const;
+ OncillaL2Ptr getL2(Leg l) const;
+ OncillaL3Ptr getL3(Leg l) const;
+ OncillaL4Ptr getL4(Leg l) const;
+ OncillaTrunkPtr getTrunk() const;
+
+ void setSynchronizer(OncillaSynchronizerPtr synchronizer);
+
+
private:
- void init();
+ void init();
- OncillaSynchronizerPtr synchronizer;
+ OncillaSynchronizerPtr synchronizer;
- std::vector<OncillaL0Ptr> d_l0s;
- std::vector<OncillaL1Ptr> d_l1s;
- std::vector<OncillaL2Ptr> d_l2s;
- std::vector<OncillaL3Ptr> d_l3s;
- std::vector<OncillaL4Ptr> d_l4s;
+ std::vector<OncillaL0Ptr> d_l0s;
+ std::vector<OncillaL1Ptr> d_l1s;
+ std::vector<OncillaL2Ptr> d_l2s;
+ std::vector<OncillaL3Ptr> d_l3s;
+ std::vector<OncillaL4Ptr> d_l4s;
- OncillaTrunkPtr d_trunk;
+ OncillaTrunkPtr d_trunk;
};
}
}
diff --git a/src/OncillaL01.cpp b/src/OncillaL01.cpp
index ec020db..aac219c 100644
--- a/src/OncillaL01.cpp
+++ b/src/OncillaL01.cpp
@@ -1,101 +1,106 @@
#include "OncillaL01.h"
using namespace std;
namespace rci {
namespace oncilla {
OncillaL0::OncillaL0(const std::string &name) :
- ResourceNode(name), Controlled(), PositionControlled() {
+ ResourceNode(name), Controlled(), PositionControlled() {
}
bool OncillaL0::isConverged() const {
- return false;
+ return false;
}
bool OncillaL0::setJointPosition(JointAnglesPtr position) {
- // Successfull
- this->_lastCommandedPosition = position;
- return true;
+ // Successfull
+ this->_lastCommandedPosition = position;
+ return true;
}
JointAnglesPtr OncillaL0::getLastPositionCommand() const {
- // TODO: The second part f this condition shouldn`t be necessary
- if (this->_lastCommandedPosition && this->_lastCommandedPosition.get()) {
- //std::cout << this->_lastCommandedPosition->print();
- return this->_lastCommandedPosition;
- }
- return JointAnglesPtr();
+ // TODO: The second part f this condition shouldn`t be necessary
+ if (this->_lastCommandedPosition && this->_lastCommandedPosition.get()) {
+ //std::cout << this->_lastCommandedPosition->print();
+ return this->_lastCommandedPosition;
+ }
+ return JointAnglesPtr();
}
OncillaL0::~OncillaL0() {
}
std::string OncillaL0::print() const {
- ostringstream outstream(ostringstream::out);
- outstream.precision(3); // Precision when printing double values
- outstream << "<Oncilla Hip>" << endl;
- return outstream.str();
+ ostringstream outstream(ostringstream::out);
+ outstream.precision(3); // Precision when printing double values
+ outstream << "<Oncilla Hip>" << endl;
+ return outstream.str();
}
-OncillaL1::OncillaL1(OncillaSynchronizer &s, const std::string &name) :
- ResourceNode(name), Controlled(), Sensing(), PositionControlled(),
- PositionSensing(), TorqueControlled(), ImpedanceControlled(),
- synchronizer(s) {
- this->_dimension = 2; // Two encoder values - should always be the same
+OncillaL1::OncillaL1(OncillaSynchronizer &s, const std::string &name)
+ : ResourceNode(name)
+ , Controlled()
+ , Sensing()
+ , PositionControlled()
+ , PositionSensing()
+ , TorqueControlled()
+ , ImpedanceControlled()
+ , synchronizer(s) {
+ this->_dimension = 2; // Two encoder values - should always be the same
}
bool OncillaL1::isConverged() const {
- throw std::runtime_error("Not yet implemented.");
- return false;
+ throw std::runtime_error("Not yet implemented.");
+ return false;
}
bool OncillaL1::setJointPosition(JointAnglesPtr position) {
- // Successfull
- this->_lastCommandedPosition = position;
- return true;
+ // Successfull
+ this->_lastCommandedPosition = position;
+ return true;
}
JointAnglesPtr OncillaL1::getJointPosition() const {
- return this->_latestJointPosition;
+ return this->_latestJointPosition;
}
bool OncillaL1::setJointVelocity(JointVelocitiesPtr vel) {
- throw std::runtime_error("Not yet implemented.");
+ throw std::runtime_error("Not yet implemented.");
}
bool OncillaL1::setJointTorque(JointTorquesPtr torque) {
- throw std::runtime_error("Not yet implemented.");
+ throw std::runtime_error("Not yet implemented.");
}
bool OncillaL1::setJointImpedance(JointImpedancePtr imped) {
- if (this->synchronizer.tooBusy()) {
- throw std::runtime_error(
- "Synchronizer has to be switched off to change JointImpedance.");
- } else {
- throw std::runtime_error("Not yet implemented.");
- }
+ if (this->synchronizer.tooBusy()) {
+ throw std::runtime_error(
+ "Synchronizer has to be switched off to change JointImpedance.");
+ } else {
+ throw std::runtime_error("Not yet implemented.");
+ }
}
JointAnglesPtr OncillaL1::getLastPositionCommand() const {
- // TODO: The second part f this condition shouldn`t be necessary
- if (this->_lastCommandedPosition && this->_lastCommandedPosition.get()) {
- //std::cout << this->_lastCommandedPosition->print();
- return this->_lastCommandedPosition;
- }
- // No command set yet. Returning current joint values instead
- return this->_latestJointPosition;
+ // TODO: The second part f this condition shouldn`t be necessary
+ if (this->_lastCommandedPosition && this->_lastCommandedPosition.get()) {
+ //std::cout << this->_lastCommandedPosition->print();
+ return this->_lastCommandedPosition;
+ }
+ // No command set yet. Returning current joint values instead
+ return this->_latestJointPosition;
}
OncillaL1::~OncillaL1() {
}
std::string OncillaL1::print() const {
- ostringstream outstream(ostringstream::out);
- outstream.precision(3); // Precision when printing double values
- outstream << "<Oncilla Hip>" << endl;
- return outstream.str();
+ ostringstream outstream(ostringstream::out);
+ outstream.precision(3); // Precision when printing double values
+ outstream << "<Oncilla Hip>" << endl;
+ return outstream.str();
}
}
}
diff --git a/src/OncillaL01.h b/src/OncillaL01.h
index 0341a78..c18c4fd 100644
--- a/src/OncillaL01.h
+++ b/src/OncillaL01.h
@@ -1,153 +1,153 @@
#pragma once
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/ResourceNode.h>
#include <rci/Controlled.h>
#include <rci/Configurable.h>
#include <rci/Sensing.h>
#include <rci/dto/JointAngles.h>
#include "OncillaSynchronizer.h"
namespace rci {
namespace oncilla {
class OncillaL0;
typedef boost::shared_ptr<OncillaL0> OncillaL0Ptr;
/**
* Node class, representing the hip node of the quadruped robot.
* @todo In case of simulation, this node can also sense the power consumption.
*/
class OncillaL0: public rci::ResourceNode,
- public rci::Controlled,
- public rci::PositionControlled {
+public rci::Controlled,
+public rci::PositionControlled {
public:
- /**
- * Special constructor to also link to webots
- */
- OncillaL0(const std::string &name = "Oncilla Hip");
-
- virtual ~OncillaL0();
-
- /**
- * Returns, if controller is converged.
- * @return True, if controller is converged after last command.
- */
- bool isConverged() const;
-
- /**
- * Commanding a joint position.
- * @param position Position command
- * @return Return, if successfull. (e.g. not exceeding joint limits)
- * @todo Check for correct control mode
- */
- bool setJointPosition(JointAnglesPtr position);
-
- /**
- * Returns latest position command. Note, that this is the latest valid
- * commanded position. If the position command exceeds limits and is
- * therefore rejected, it ..
- */
- virtual JointAnglesPtr getLastPositionCommand() const;
-
- /**
- * Print
- */
- std::string print() const;
+ /**
+ * Special constructor to also link to webots
+ */
+ OncillaL0(const std::string &name = "Oncilla Hip");
+
+ virtual ~OncillaL0();
+
+ /**
+ * Returns, if controller is converged.
+ * @return True, if controller is converged after last command.
+ */
+ bool isConverged() const;
+
+ /**
+ * Commanding a joint position.
+ * @param position Position command
+ * @return Return, if successfull. (e.g. not exceeding joint limits)
+ * @todo Check for correct control mode
+ */
+ bool setJointPosition(JointAnglesPtr position);
+
+ /**
+ * Returns latest position command. Note, that this is the latest valid
+ * commanded position. If the position command exceeds limits and is
+ * therefore rejected, it ..
+ */
+ virtual JointAnglesPtr getLastPositionCommand() const;
+
+ /**
+ * Print
+ */
+ std::string print() const;
};
class OncillaL1;
typedef boost::shared_ptr<OncillaL1> OncillaL1Ptr;
/**
* Node class, representing the hip node of the quadruped robot.
*
* @todo In case of simulation, this node can also sense the power consumption.
*/
class OncillaL1: public rci::ResourceNode,
- public rci::Controlled,
- public rci::Sensing,
- public rci::PositionControlled,
- public rci::PositionSensing, // Two encoder values
- public rci::VelocityControlled,
- public rci::TorqueControlled,
- public rci::ImpedanceControlled {
+ public rci::Controlled,
+ public rci::Sensing,
+ public rci::PositionControlled,
+ public rci::PositionSensing, // Two encoder values
+ public rci::VelocityControlled,
+ public rci::TorqueControlled,
+ public rci::ImpedanceControlled {
public:
- /**
- * Special constructor to also link to webots
- */
- OncillaL1(OncillaSynchronizer &s, const std::string &name = "Oncilla Hip");
-
- virtual ~OncillaL1();
-
- /**
- * Returns, if controller is converged.
- * @return True, if controller is converged after last command.
- */
- bool isConverged() const;
-
- /**
- * Commanding a joint position.
- * @param position Position command
- * @return Return, if successfull. (e.g. not exceeding joint limits)
- * @todo Check for correct control mode
- */
- bool setJointPosition(JointAnglesPtr position);
-
- /**
- * Returns current joint position.
- * @return Current joint position
- */
- virtual JointAnglesPtr getJointPosition() const;
-
- /**
- * Commanding a joint velocity.
- * @param position Position command
- * @return Return, if successfull. (e.g. not exceeding joint limits)
- * @todo Check for correct control mode
- */
- virtual bool setJointVelocity(rci::JointVelocitiesPtr vel);
-
- /**
- * Returns current joint torque.
- * @return Current joint torque
- */
- virtual bool setJointTorque(JointTorquesPtr torque);
-
- /**
- * Returns current joint torque.
- * @return Current joint torque
- */
- virtual bool setJointImpedance(JointImpedancePtr imped);
-
- /**
- * Returns latest position command. Note, that this is the latest valid
- * commanded position. If the position command exceeds limits and is
- * therefore rejected, it ..
- */
- virtual JointAnglesPtr getLastPositionCommand() const;
-
- /**
- * Print
- */
- std::string print() const;
+ /**
+ * Special constructor to also link to webots
+ */
+ OncillaL1(OncillaSynchronizer &s, const std::string &name = "Oncilla Hip");
+
+ virtual ~OncillaL1();
+
+ /**
+ * Returns, if controller is converged.
+ * @return True, if controller is converged after last command.
+ */
+ bool isConverged() const;
+
+ /**
+ * Commanding a joint position.
+ * @param position Position command
+ * @return Return, if successfull. (e.g. not exceeding joint limits)
+ * @todo Check for correct control mode
+ */
+ bool setJointPosition(JointAnglesPtr position);
+
+ /**
+ * Returns current joint position.
+ * @return Current joint position
+ */
+ virtual JointAnglesPtr getJointPosition() const;
+
+ /**
+ * Commanding a joint velocity.
+ * @param position Position command
+ * @return Return, if successfull. (e.g. not exceeding joint limits)
+ * @todo Check for correct control mode
+ */
+ virtual bool setJointVelocity(rci::JointVelocitiesPtr vel);
+
+ /**
+ * Returns current joint torque.
+ * @return Current joint torque
+ */
+ virtual bool setJointTorque(JointTorquesPtr torque);
+
+ /**
+ * Returns current joint torque.
+ * @return Current joint torque
+ */
+ virtual bool setJointImpedance(JointImpedancePtr imped);
+
+ /**
+ * Returns latest position command. Note, that this is the latest valid
+ * commanded position. If the position command exceeds limits and is
+ * therefore rejected, it ..
+ */
+ virtual JointAnglesPtr getLastPositionCommand() const;
+
+ /**
+ * Print
+ */
+ std::string print() const;
private:
- /**
- * Reference to OncillaSynchronizer
- * @todo This is a dangerous reference which will become invalid as soon as
- * OncillaSynchronizer gets deleted outside.
- */
- OncillaSynchronizer &synchronizer;
+ /**
+ * Reference to OncillaSynchronizer
+ * @todo This is a dangerous reference which will become invalid as soon as
+ * OncillaSynchronizer gets deleted outside.
+ */
+ OncillaSynchronizer &synchronizer;
};
}
}
diff --git a/src/OncillaL2.cpp b/src/OncillaL2.cpp
index 880c970..0c0c75e 100644
--- a/src/OncillaL2.cpp
+++ b/src/OncillaL2.cpp
@@ -1,71 +1,77 @@
#include "OncillaL2.h"
using namespace std;
using namespace boost;
namespace rci {
namespace oncilla {
-OncillaL2::OncillaL2(OncillaSynchronizer &s, const std::string &name) :
- ResourceNode(name), Controlled(), Sensing(), PositionControlled(),
- PositionSensing(), VelocityControlled(), TorqueControlled(),
- ImpedanceControlled(), synchronizer(s) {
- // Two encoder values - difference is due to passive compliance
- this->_dimension = 2;
+OncillaL2::OncillaL2(OncillaSynchronizer &s, const std::string &name)
+ : ResourceNode(name)
+ , Controlled()
+ , Sensing()
+ , PositionControlled()
+ , PositionSensing()
+ , VelocityControlled()
+ , TorqueControlled()
+ , ImpedanceControlled()
+ , synchronizer(s) {
+ // Two encoder values - difference is due to passive compliance
+ this->_dimension = 2;
}
bool OncillaL2::isConverged() const {
- return false;
+ return false;
}
bool OncillaL2::setJointPosition(JointAnglesPtr position) {
- // Successfull
- // std::cerr << "[OncillaKnee] " << position << std::endl;
- this->_lastCommandedPosition = position;
- return true;
+ // Successfull
+ // std::cerr << "[OncillaKnee] " << position << std::endl;
+ this->_lastCommandedPosition = position;
+ return true;
}
JointAnglesPtr OncillaL2::getJointPosition() const {
- return this->_latestJointPosition;
+ return this->_latestJointPosition;
}
OncillaL2::~OncillaL2() {
}
std::string OncillaL2::print() const {
- ostringstream outstream(ostringstream::out);
- outstream.precision(3); // Precision when printing double values
- outstream << "<Oncilla Knee>" << endl;
- return outstream.str();
+ ostringstream outstream(ostringstream::out);
+ outstream.precision(3); // Precision when printing double values
+ outstream << "<Oncilla Knee>" << endl;
+ return outstream.str();
}
bool OncillaL2::setJointTorque(JointTorquesPtr torques) {
- throw std::runtime_error("Not yet implemented.");
+ throw std::runtime_error("Not yet implemented.");
}
bool OncillaL2::setJointImpedance(JointImpedancePtr imped) {
- if (this->synchronizer.tooBusy()) {
- throw std::runtime_error(
- "Synchronizer has to be switched off to change JointImpedance.");
- } else {
- throw std::runtime_error("Not yet implemented.");
- }
+ if (this->synchronizer.tooBusy()) {
+ throw std::runtime_error(
+ "Synchronizer has to be switched off to change JointImpedance.");
+ } else {
+ throw std::runtime_error("Not yet implemented.");
+ }
}
bool OncillaL2::setJointVelocity(JointVelocitiesPtr vel) {
- throw std::runtime_error("Not yet implemented.");
+ throw std::runtime_error("Not yet implemented.");
}
JointAnglesPtr OncillaL2::getLastPositionCommand() const {
- // TODO: The second part f this condition shouldn`t be necessary
- if (!this->_lastCommandedPosition || !this->_lastCommandedPosition.get()) {
- // No command set yet. Returning current joint values instead
- // FIXME: Instead of return current position set command to current position
- return this->_latestJointPosition;
- }
+ // TODO: The second part f this condition shouldn`t be necessary
+ if (!this->_lastCommandedPosition || !this->_lastCommandedPosition.get()) {
+ // No command set yet. Returning current joint values instead
+ // FIXME: Instead of return current position set command to current position
+ return this->_latestJointPosition;
+ }
- return this->_lastCommandedPosition;
+ return this->_lastCommandedPosition;
}
}
}
diff --git a/src/OncillaL2.h b/src/OncillaL2.h
index fe3cdba..32c0c31 100644
--- a/src/OncillaL2.h
+++ b/src/OncillaL2.h
@@ -1,100 +1,100 @@
#pragma once
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/ResourceNode.h>
#include <rci/Controlled.h>
#include <rci/Configurable.h>
#include <rci/Sensing.h>
#include <rci/dto/JointAngles.h>
#include "OncillaSynchronizer.h"
namespace rci {
namespace oncilla {
class OncillaL2;
typedef boost::shared_ptr<OncillaL2> OncillaL2Ptr;
/**
* Node class, representing the knee node of the quadruped robot.
* @todo In case of simulation, this node can also sense the power consumption.
*/
class OncillaL2: public rci::ResourceNode,
- public rci::Controlled,
- public rci::Sensing,
- public rci::PositionControlled,
- public rci::PositionSensing,
- public rci::VelocityControlled,
- public rci::TorqueControlled,
- public rci::ImpedanceControlled {
+ public rci::Controlled,
+ public rci::Sensing,
+ public rci::PositionControlled,
+ public rci::PositionSensing,
+ public rci::VelocityControlled,
+ public rci::TorqueControlled,
+ public rci::ImpedanceControlled {
public:
- OncillaL2(OncillaSynchronizer &s, const std::string &name = "Oncilla Knee");
- virtual ~OncillaL2();
-
- /**
- * Returns, if controller is converged.
- * @return True, if controller is converged after last command.
- */
- bool isConverged() const;
-
- /**
- * Commanding a joint position.
- * @param position Position command
- * @return Return, if successfull. (e.g. not exceeding joint limits)
- * @todo Check for correct control mode
- */
- bool setJointPosition(JointAnglesPtr position);
-
- /**
- * Returns current joint position.
- * @return Current joint position
- */
- virtual JointAnglesPtr getJointPosition() const;
-
- /**
- * Commanding a joint velocity.
- * @param position Velocity command
- * @return Return, if successfull. (e.g. not exceeding joint limits)
- * @todo Check for correct control mode
- */
- bool setJointVelocity(JointVelocitiesPtr vel);
-
- /**
- * Commanding a joint velocity.
- * @param position Velocity command
- * @return Return, if successfull. (e.g. not exceeding joint limits)
- * @todo Check for correct control mode
- */
- bool setJointImpedance(JointImpedancePtr imped);
-
- /**
- * Commanding a joint torque.
- * @param position Torque command
- * @return Return, if successfull. (e.g. not exceeding joint limits)
- * @todo Check for correct control mode
- */
- virtual bool setJointTorque(rci::JointTorquesPtr torques);
-
- /**
- * Returns latest position command. Note, that this is the latest valid
- * commanded position. If the position command exceeds limits and is
- * therefore rejected, it ..
- */
- virtual JointAnglesPtr getLastPositionCommand() const;
-
- /**
- * Print
- */
- std::string print() const;
+ OncillaL2(OncillaSynchronizer &s, const std::string &name = "Oncilla Knee");
+ virtual ~OncillaL2();
+
+ /**
+ * Returns, if controller is converged.
+ * @return True, if controller is converged after last command.
+ */
+ bool isConverged() const;
+
+ /**
+ * Commanding a joint position.
+ * @param position Position command
+ * @return Return, if successfull. (e.g. not exceeding joint limits)
+ * @todo Check for correct control mode
+ */
+ bool setJointPosition(JointAnglesPtr position);
+
+ /**
+ * Returns current joint position.
+ * @return Current joint position
+ */
+ virtual JointAnglesPtr getJointPosition() const;
+
+ /**
+ * Commanding a joint velocity.
+ * @param position Velocity command
+ * @return Return, if successfull. (e.g. not exceeding joint limits)
+ * @todo Check for correct control mode
+ */
+ bool setJointVelocity(JointVelocitiesPtr vel);
+
+ /**
+ * Commanding a joint velocity.
+ * @param position Velocity command
+ * @return Return, if successfull. (e.g. not exceeding joint limits)
+ * @todo Check for correct control mode
+ */
+ bool setJointImpedance(JointImpedancePtr imped);
+
+ /**
+ * Commanding a joint torque.
+ * @param position Torque command
+ * @return Return, if successfull. (e.g. not exceeding joint limits)
+ * @todo Check for correct control mode
+ */
+ virtual bool setJointTorque(rci::JointTorquesPtr torques);
+
+ /**
+ * Returns latest position command. Note, that this is the latest valid
+ * commanded position. If the position command exceeds limits and is
+ * therefore rejected, it ..
+ */
+ virtual JointAnglesPtr getLastPositionCommand() const;
+
+ /**
+ * Print
+ */
+ std::string print() const;
private:
- OncillaSynchronizer &synchronizer;
+ OncillaSynchronizer &synchronizer;
};
}
}
diff --git a/src/OncillaL3.cpp b/src/OncillaL3.cpp
index fd0adc2..a58bfbc 100644
--- a/src/OncillaL3.cpp
+++ b/src/OncillaL3.cpp
@@ -1,28 +1,30 @@
#include "OncillaL3.h"
using namespace std;
namespace rci {
namespace oncilla {
-OncillaL3::OncillaL3(const std::string & name) :
- rci::ResourceNode(name), rci::Sensing(), rci::PositionSensing() {
- this->_dimension = 1;
+OncillaL3::OncillaL3(const std::string & name)
+ : rci::ResourceNode(name)
+ , rci::Sensing()
+ , rci::PositionSensing() {
+ this->_dimension = 1;
}
JointAnglesPtr OncillaL3::getJointPosition() const {
- throw std::runtime_error("Not yet implemented.");
+ throw std::runtime_error("Not yet implemented.");
}
OncillaL3::~OncillaL3() {
}
std::string OncillaL3::print() const {
- ostringstream outstream(ostringstream::out);
- outstream.precision(3); // Precision when printing double values
- outstream << "<Oncilla Ankle>" << endl;
- return outstream.str();
+ ostringstream outstream(ostringstream::out);
+ outstream.precision(3); // Precision when printing double values
+ outstream << "<Oncilla Ankle>" << endl;
+ return outstream.str();
}
}
}
diff --git a/src/OncillaL3.h b/src/OncillaL3.h
index caaf629..be10b07 100644
--- a/src/OncillaL3.h
+++ b/src/OncillaL3.h
@@ -1,45 +1,45 @@
#pragma once
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/ResourceNode.h>
#include <rci/Controlled.h>
#include <rci/Configurable.h>
#include <rci/Sensing.h>
#include <rci/dto/JointAngles.h>
namespace rci {
namespace oncilla {
class OncillaL3;
typedef boost::shared_ptr<OncillaL3> OncillaL3Ptr;
/**
* Node class, representing the foot/ankle of the quadruped robot. Not actuated,
* but force sensing.
*/
class OncillaL3: public rci::ResourceNode,
- public rci::Sensing,
- public rci::PositionSensing {
+ public rci::Sensing,
+ public rci::PositionSensing {
public:
- OncillaL3(const std::string & name = "Oncilla Ankle");
+ OncillaL3(const std::string & name = "Oncilla Ankle");
- virtual ~OncillaL3();
+ virtual ~OncillaL3();
- /**
- * Returns contact forces
- */
- JointAnglesPtr getJointPosition() const;
+ /**
+ * Returns contact forces
+ */
+ JointAnglesPtr getJointPosition() const;
- /**
- * Print
- */
- std::string print() const;
+ /**
+ * Print
+ */
+ std::string print() const;
};
}
}
diff --git a/src/OncillaL4.cpp b/src/OncillaL4.cpp
index 6383dca..ec8e822 100644
--- a/src/OncillaL4.cpp
+++ b/src/OncillaL4.cpp
@@ -1,28 +1,30 @@
#include "OncillaL4.h"
using namespace std;
namespace rci {
namespace oncilla {
-OncillaL4::OncillaL4(const std::string & name) :
- rci::ResourceNode(name), rci::Sensing(), rci::ForceSensing() {
- this->_dimension = 1;
+OncillaL4::OncillaL4(const std::string & name)
+ : rci::ResourceNode(name)
+ , rci::Sensing()
+ , rci::ForceSensing() {
+ this->_dimension = 1;
}
ForcesPtr OncillaL4::getForces() const {
- throw std::runtime_error("Not yet implemented.");
+ throw std::runtime_error("Not yet implemented.");
}
OncillaL4::~OncillaL4() {
}
std::string OncillaL4::print() const {
- ostringstream outstream(ostringstream::out);
- outstream.precision(3); // Precision when printing double values
- outstream << "<Oncilla Foot>" << endl;
- return outstream.str();
+ ostringstream outstream(ostringstream::out);
+ outstream.precision(3); // Precision when printing double values
+ outstream << "<Oncilla Foot>" << endl;
+ return outstream.str();
}
}
}
diff --git a/src/OncillaL4.h b/src/OncillaL4.h
index 1b1ec24..3cb016b 100644
--- a/src/OncillaL4.h
+++ b/src/OncillaL4.h
@@ -1,45 +1,45 @@
#pragma once
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/ResourceNode.h>
#include <rci/Controlled.h>
#include <rci/Configurable.h>
#include <rci/Sensing.h>
#include <rci/dto/JointAngles.h>
namespace rci {
namespace oncilla {
class OncillaL4;
typedef boost::shared_ptr<OncillaL4> OncillaL4Ptr;
/**
* Node class, representing the foot of the quadruped robot. Not actuated,
* but force sensing.
*/
class OncillaL4: public rci::ResourceNode,
- public rci::Sensing,
- public rci::ForceSensing {
+ public rci::Sensing,
+ public rci::ForceSensing {
public:
- OncillaL4(const std::string & name = "Oncilla Foot");
+ OncillaL4(const std::string & name = "Oncilla Foot");
- virtual ~OncillaL4();
+ virtual ~OncillaL4();
- /**
- * Returns contact forces
- */
- ForcesPtr getForces() const;
+ /**
+ * Returns contact forces
+ */
+ ForcesPtr getForces() const;
- /**
- * Print
- */
- std::string print() const;
+ /**
+ * Print
+ */
+ std::string print() const;
};
}
}
diff --git a/src/OncillaSynchronizer.h b/src/OncillaSynchronizer.h
index 176588f..a24af44 100644
--- a/src/OncillaSynchronizer.h
+++ b/src/OncillaSynchronizer.h
@@ -1,87 +1,87 @@
#pragma once
#include <vector>
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/Synchronizer.h>
namespace rci {
namespace oncilla {
class OncillaSynchronizer;
typedef boost::shared_ptr<OncillaSynchronizer> OncillaSynchronizerPtr;
class OncillaTrunk;
typedef boost::shared_ptr<OncillaTrunk> OncillaTrunkPtr;
class OncillaL0;
typedef boost::shared_ptr<OncillaL0> OncillaL0Ptr;
class OncillaL1;
typedef boost::shared_ptr<OncillaL1> OncillaL1Ptr;
class OncillaL2;
typedef boost::shared_ptr<OncillaL2> OncillaL2Ptr;
class OncillaL3;
typedef boost::shared_ptr<OncillaL3> OncillaL3Ptr;
class OncillaL4;
typedef boost::shared_ptr<OncillaL4> OncillaL4Ptr;
/**
* OncillaSynchronizer
* Different OncillaSynchronizers may be for example:
* * Update with a given frequency
* ** Send data every time
* ** Send only if new data
* * Update only if new data (event-based)
* * Triggered from robot side (e.g. FRI)
*/
class OncillaSynchronizer: public Synchronizer {
public:
- OncillaSynchronizer(const std::string &name);
- virtual ~OncillaSynchronizer();
+ OncillaSynchronizer(const std::string &name);
+ virtual ~OncillaSynchronizer();
- /**
- * Registers a trunk node.
- * @todo use Oncilla::Leg as index (problem with cyclic includes)
- */
- virtual void registerTrunkNode(unsigned int index, OncillaTrunkPtr node) = 0;
+ /**
+ * Registers a trunk node.
+ * @todo use Oncilla::Leg as index (problem with cyclic includes)
+ */
+ virtual void registerTrunkNode(unsigned int index, OncillaTrunkPtr node) = 0;
- /**
- * Registers an L0 node.
- * @todo use Oncilla::Leg as index (problem with cyclic includes)
- */
- virtual void registerL0Node(unsigned int index, OncillaL0Ptr node) = 0;
+ /**
+ * Registers an L0 node.
+ * @todo use Oncilla::Leg as index (problem with cyclic includes)
+ */
+ virtual void registerL0Node(unsigned int index, OncillaL0Ptr node) = 0;
- /**
- * Registers an L1 node.
- * @todo use Oncilla::Leg as index (problem with cyclic includes)
- */
- virtual void registerL1Node(unsigned int index, OncillaL1Ptr node) = 0;
+ /**
+ * Registers an L1 node.
+ * @todo use Oncilla::Leg as index (problem with cyclic includes)
+ */
+ virtual void registerL1Node(unsigned int index, OncillaL1Ptr node) = 0;
- /**
- * Registers an L2 node.
- * @todo use Oncilla::Leg as index (problem with cyclic includes)
- */
- virtual void registerL2Node(unsigned int index, OncillaL2Ptr node) = 0;
+ /**
+ * Registers an L2 node.
+ * @todo use Oncilla::Leg as index (problem with cyclic includes)
+ */
+ virtual void registerL2Node(unsigned int index, OncillaL2Ptr node) = 0;
- /**
- * Registers an L3 node.
- * @todo use Oncilla::Leg as index (problem with cyclic includes)
- */
- virtual void registerL3Node(unsigned int index, OncillaL3Ptr node) = 0;
+ /**
+ * Registers an L3 node.
+ * @todo use Oncilla::Leg as index (problem with cyclic includes)
+ */
+ virtual void registerL3Node(unsigned int index, OncillaL3Ptr node) = 0;
- /**
- * Registers an L4 node.
- * @todo use Oncilla::Leg as index (problem with cyclic includes)
- */
- virtual void registerL4Node(unsigned int index, OncillaL4Ptr node) = 0;
+ /**
+ * Registers an L4 node.
+ * @todo use Oncilla::Leg as index (problem with cyclic includes)
+ */
+ virtual void registerL4Node(unsigned int index, OncillaL4Ptr node) = 0;
- /**
- *
- */
- friend std::ostream
- & operator<<(std::ostream& os, const OncillaSynchronizer& val);
+ /**
+ *
+ */
+ friend std::ostream
+ & operator<<(std::ostream& os, const OncillaSynchronizer& val);
};
}
}
diff --git a/src/OncillaTrunk.cpp b/src/OncillaTrunk.cpp
index b8e46a5..7b84474 100644
--- a/src/OncillaTrunk.cpp
+++ b/src/OncillaTrunk.cpp
@@ -1,36 +1,38 @@
#include "OncillaTrunk.h"
using namespace std;
namespace rci {
namespace oncilla {
-OncillaTrunk::OncillaTrunk(const std::string & name) :
- ResourceNode(name), Sensing(), PoseSensing() {
- this->_dimension = 1;
+OncillaTrunk::OncillaTrunk(const std::string & name)
+ : ResourceNode(name)
+ , Sensing()
+ , PoseSensing() {
+ this->_dimension = 1;
}
PosePtr OncillaTrunk::getAbsolutePose() const {
- throw std::runtime_error("Not yet implemented.");
+ throw std::runtime_error("Not yet implemented.");
}
PosePtr OncillaTrunk::getDisplacement() const {
- throw std::runtime_error("Not yet implemented.");
+ throw std::runtime_error("Not yet implemented.");
}
PosePtr OncillaTrunk::getAcceleration() const {
- throw std::runtime_error("Not yet implemented.");
+ throw std::runtime_error("Not yet implemented.");
}
OncillaTrunk::~OncillaTrunk() {
}
std::string OncillaTrunk::print() const {
- ostringstream outstream(ostringstream::out);
- outstream.precision(3); // Precision when printing double values
- outstream << "<Oncilla Trunk>" << endl;
- return outstream.str();
+ ostringstream outstream(ostringstream::out);
+ outstream.precision(3); // Precision when printing double values
+ outstream << "<Oncilla Trunk>" << endl;
+ return outstream.str();
}
}
}
diff --git a/src/OncillaTrunk.h b/src/OncillaTrunk.h
index 74540cc..510e07d 100644
--- a/src/OncillaTrunk.h
+++ b/src/OncillaTrunk.h
@@ -1,55 +1,55 @@
#pragma once
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/ResourceNode.h>
#include <rci/Controlled.h>
#include <rci/Configurable.h>
#include <rci/Sensing.h>
namespace rci {
namespace oncilla {
class OncillaTrunk;
typedef boost::shared_ptr<OncillaTrunk> OncillaTrunkPtr;
/**
* Node class, representing the quadruped trunk, including pose sensing.
*/
class OncillaTrunk: public rci::ResourceNode,
- public Sensing,
- public PoseSensing {
+ public Sensing,
+ public PoseSensing {
public:
- OncillaTrunk(const std::string & name = "Oncilla Trunk");
- virtual ~OncillaTrunk();
-
- /**
- * Returns current pose.
- * @return Current pose
- */
- virtual PosePtr getAbsolutePose() const;
-
- /**
- * Returns current displacement.
- * @return Current pose
- */
- virtual PosePtr getDisplacement() const;
-
- /**
- * Returns current translational and rotational acceleration.
- * @return Current pose
- */
- virtual PosePtr getAcceleration() const;
-
- /**
- * Print
- */
- std::string print() const;
+ OncillaTrunk(const std::string & name = "Oncilla Trunk");
+ virtual ~OncillaTrunk();
+
+ /**
+ * Returns current pose.
+ * @return Current pose
+ */
+ virtual PosePtr getAbsolutePose() const;
+
+ /**
+ * Returns current displacement.
+ * @return Current pose
+ */
+ virtual PosePtr getDisplacement() const;
+
+ /**
+ * Returns current translational and rotational acceleration.
+ * @return Current pose
+ */
+ virtual PosePtr getAcceleration() const;
+
+ /**
+ * Print
+ */
+ std::string print() const;
};
}
}