Description

Driver for the RoboSimian robot.

#include <RoboSimian.h>

Classes
class	PhaseChangeCallback
	Class to be used as callback interface for user-defined actions at phase changes. More...

Public Types
enum	Phase { POSE, HOLD, START, CYCLE, STOP }
	Driving phases.

Public Member Functions
	RS_Driver (const std::string &filename_start, const std::string &filename_cycle, const std::string &filename_stop, bool repeat=false)

void	SetTimeOffsets (double time_pose, double time_hold)
	Specify time intervals to assume and then hold the initial pose.

Actuation	GetActuation ()
	Return the current limb motor actuations.

void	SetActuation (Actuation ext_act)
	Directly feed actuations to the motors.

void	SetDrivingMode (bool drivemode)
	Set the driving mode to accept external inputs.

void	UseTorqueMotors (bool use_tm)
	Set the motor type (setpoint/torque).

std::string	GetCurrentPhase () const
	Return the current phase.

void	RegisterPhaseChangeCallback (PhaseChangeCallback *callback)
	Register a phase-change callback object.

Constructor & Destructor Documentation

chrono::robosimian::RS_Driver::RS_Driver	(	const std::string &	filename_start,
		const std::string &	filename_cycle,
		const std::string &	filename_stop,
		bool	repeat = `false`
	)

Parameters

filename_start	name of file with joint actuations for start phase
filename_cycle	name of file with joint actuations for cycle phase
filename_stop	name of file with joint actuations for stop phase
repeat	true if cycle phase is looped

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