#include <RobotInterface.h>

Inheritance diagram for XBot::RobotInterface:

Collaboration diagram for XBot::RobotInterface:

Public Types
typedef std::shared_ptr< RobotInterface >	Ptr

typedef std::shared_ptr< const RobotInterface >	ConstPtr

Public Types inherited from XBot::XBotInterface
typedef std::shared_ptr< XBotInterface >	Ptr

typedef std::shared_ptr< const XBotInterface >	ConstPtr

Public Member Functions
	RobotInterface ()
	Default constructor. More...

virtual	~RobotInterface ()=default

ModelInterface &	model ()
	Getter for the internal model instance. More...

RobotInterface &	operator= (const RobotInterface &other)=delete

	RobotInterface (const RobotInterface &other)=delete

virtual double	getTime () const =0
	Getter for the time in the robot framework. More...

virtual bool	isRunning () const =0
	... More...

bool	sense (bool sync_model=true, bool sync_references=false)
	Reads the current state of the robot calling sense_internal() and read_sensors() implemented by the derived class. More...

bool	move ()
	Moves the robot calling the move_internal() implemented by the derived class. More...

RobotChain &	operator() (const std::string &chain_name)
	Getter for the robot chain with a certain chain_name. More...

const RobotChain &	operator() (const std::string &chain_name) const

RobotChain &	chain (const std::string &chain_name)
	Getter for the robot chain with a certain chain_name. More...

const RobotChain &	chain (const std::string &chain_name) const

RobotChain &	arm (int arm_id)
	Getter for the standard kinematic group arm: you can quickly access the i-th arm in the order specified in the SRDF. More...

const RobotChain &	arm (int arm_id) const

RobotChain &	leg (int leg_id)
	Getter for the standard kinematic group leg: you can quickly access the i-th leg in the order specified in the SRDF. More...

const RobotChain &	leg (int leg_id) const

template<typename... SyncFlags>
bool	setReferenceFrom (const ModelInterface &model, SyncFlags... flags)
	Sets the robot references according to a ModelInterface. More...

bool	setControlMode (const ControlMode &control_mode)

virtual bool	setControlMode (const std::string &chain_name, const ControlMode &control_mode)

bool	setControlMode (const std::map< std::string, ControlMode > &control_mode)

bool	setControlMode (const std::map< int, ControlMode > &control_mode)

void	getControlMode (std::map< std::string, ControlMode > &control_mode) const

void	getControlMode (std::map< int, ControlMode > &control_mode) const

double	getTimestampRx () const
	Get the RX timestamp: it corresponds to the last call to sense() More...

double	getTimestampTx () const
	Get the TX timestamp: it corresponds to the last call to move() More...

bool	getJointPosition (Eigen::VectorXd &q) const
	Gets the robot joint positions as an Eigen vector. More...

bool	getJointPosition (JointIdMap &q) const
	Gets the robot joint positions as a JointIdMap, i.e. More...

bool	getJointPosition (JointNameMap &q) const
	Gets the robot joint postions as a JointNameMap, i.e. More...

bool	getMotorPosition (Eigen::VectorXd &q) const
	Gets the robot motor positions as an Eigen vector. More...

bool	getMotorPosition (JointIdMap &q) const
	Gets the robot motor positions as a JointIdMap, i.e. More...

bool	getMotorPosition (JointNameMap &q) const
	Gets the robot motor postions as a JointNameMap, i.e. More...

bool	getJointVelocity (Eigen::VectorXd &qdot) const
	Gets the robot joint velocities as an Eigen vector. More...

bool	getJointVelocity (JointIdMap &qdot) const
	Gets the robot joint velocities as a JointIdMap, i.e. More...

bool	getJointVelocity (JointNameMap &qdot) const
	Gets the robot joint velocities as a JointNameMap, i.e. More...

bool	getMotorVelocity (Eigen::VectorXd &qdot) const
	Gets the robot motor velocities as an Eigen vector. More...

bool	getMotorVelocity (JointIdMap &qdot) const
	Gets the robot motor velocities as a JointIdMap, i.e. More...

bool	getMotorVelocity (JointNameMap &qdot) const
	Gets the robot motor velocities as a JointNameMap, i.e. More...

bool	getJointEffort (Eigen::VectorXd &tau) const
	Gets the robot joint efforts as an Eigen vector. More...

bool	getJointEffort (JointIdMap &tau) const
	Gets the robot joint efforts as a JointIdMap, i.e. More...

bool	getJointEffort (JointNameMap &tau) const
	Gets the robot joint efforts as a JointNameMap, i.e. More...

bool	getTemperature (Eigen::VectorXd &temp) const
	Gets the robot joint temperatures as an Eigen vector. More...

bool	getTemperature (JointIdMap &temp) const
	Gets the robot joint temperatures as a JointIdMap, i.e. More...

bool	getTemperature (JointNameMap &temp) const
	Gets the robot joint temperatures as a JointNameMap, i.e. More...

bool	getPositionReference (Eigen::VectorXd &q) const
	Gets the robot position references as an Eigen vector. More...

bool	getPositionReference (JointIdMap &q) const
	Gets the robot position references as a JointIdMap, i.e. More...

bool	getPositionReference (JointNameMap &q) const
	Gets the robot postion references as a JointNameMap, i.e. More...

bool	getVelocityReference (Eigen::VectorXd &qdot) const
	Gets the robot velocity references as an Eigen vector. More...

bool	getVelocityReference (JointIdMap &qdot) const
	Gets the robot velocity references as a JointIdMap, i.e. More...

bool	getVelocityReference (JointNameMap &qdot) const
	Gets the robot velocity references as a JointNameMap, i.e. More...

bool	getEffortReference (Eigen::VectorXd &tau) const
	Gets the robot effort references as an Eigen vector. More...

bool	getEffortReference (JointIdMap &tau) const
	Gets the robot effort references as a JointIdMap, i.e. More...

bool	getEffortReference (JointNameMap &tau) const
	Gets the robot effort references as a JointNameMap, i.e. More...

bool	getStiffness (Eigen::VectorXd &K) const
	Gets the robot stiffness as an Eigen vector. More...

bool	getStiffness (JointIdMap &K) const
	Gets the robot stiffness as a JointIdMap, i.e. More...

bool	getStiffness (JointNameMap &K) const
	Gets the robot stiffness as a JointNameMap, i.e. More...

bool	getDamping (Eigen::VectorXd &D) const
	Gets the robot damping as an Eigen vector. More...

bool	getDamping (JointIdMap &D) const
	Gets the robot damping as a JointIdMap, i.e. More...

bool	getDamping (JointNameMap &D) const
	Gets the robot damping as a JointNameMap, i.e. More...

bool	setPositionReference (const Eigen::VectorXd &q)
	Sets the XBotInterface internal joint position references according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setPositionReference (const JointIdMap &q)
	Sets the XBotInterface internal joint position references according to the input JointIdMap (i.e. More...

bool	setPositionReference (const JointNameMap &q)
	Sets the XBotInterface internal joint position references according to the input JointNameMap (i.e. More...

bool	setVelocityReference (const Eigen::VectorXd &qdot)
	Sets the XBotInterface internal joint velocity references according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setVelocityReference (const JointIdMap &qdot)
	Sets the XBotInterface internal joint velocity references according to the input JointIdMap (i.e. More...

bool	setVelocityReference (const JointNameMap &qdot)
	Sets the XBotInterface internal joint velocity references according to the input JointNameMap (i.e. More...

bool	setEffortReference (const Eigen::VectorXd &tau)
	Sets the XBotInterface internal joint effort references according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setEffortReference (const JointIdMap &tau)
	Sets the XBotInterface internal joint effort references according to the input JointIdMap (i.e. More...

bool	setEffortReference (const JointNameMap &tau)
	Sets the XBotInterface internal joint effort references according to the input JointNameMap (i.e. More...

bool	setStiffness (const Eigen::VectorXd &K)
	Sets the XBotInterface internal joint stiffness according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setStiffness (const JointIdMap &K)
	Sets the XBotInterface internal joint stiffness according to the input JointIdMap (i.e. More...

bool	setStiffness (const JointNameMap &K)
	Sets the XBotInterface internal joint stiffness according to the input JointNameMap (i.e. More...

bool	setDamping (const Eigen::VectorXd &D)
	Sets the XBotInterface internal joint damping according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setDamping (const JointIdMap &D)
	Sets the XBotInterface internal joint damping according to the input JointIdMap (i.e. More...

bool	setDamping (const JointNameMap &D)
	Sets the XBotInterface internal joint damping according to the input JointNameMap (i.e. More...

Public Member Functions inherited from XBot::XBotInterface
	XBotInterface ()

	XBotInterface (const XBotInterface &other)

XBotInterface &	operator= (const XBotInterface &rhs)

virtual	~XBotInterface ()

bool	init (const std::string &path_to_cfg)

bool	init (const ConfigOptions &options)

const ConfigOptions &	getConfigOptions () const
	Gets the configuration struct that has been used to build the XBotInterface. More...

const std::string &	getPathToConfig () const
	Gets the path to the YAML config file used to build the XBotInterface. More...

const urdf::ModelInterface &	getUrdf () const
	Getter for the robot URDF model corresponding to the URDF xml file specified in the YAML config file. More...

const std::string &	getUrdfPath () const
	getUrdfPath Getter for the path to the URDF model More...

const srdf_advr::Model &	getSrdf () const
	Getter fot the robot SRDF model corresponding to the SRDF xml file specified in the YAML config file. More...

const std::string &	getSrdfPath () const
	getSrdfPath Getter for the path to the SRDF model More...

const std::string &	getUrdfString () const
	Returns the robot URDF xml as a string. More...

const std::string &	getSrdfString () const
	Returns the robot SRDF xml as a string. More...

bool	getRobotState (const std::string &state_name, Eigen::VectorXd &q) const
	Gets the robot joints group state configuration as specified in the robot SRDF. More...

bool	getRobotState (const std::string &state_name, JointIdMap &q) const
	Gets the robot joints group state configuration as specified in the robot SRDF. More...

bool	getRobotState (const std::string &state_name, JointNameMap &q) const
	Gets the robot joints group state configuration as specified in the robot SRDF. More...

std::vector< std::string >	getChainNames () const
	Return a vector of available chain names as strings. More...

bool	hasChain (const std::string &chain_name) const
	A method for determining if a chain with name "chain_name" is defined inside the interface. More...

int	legs () const
	Returns the number of legs defined inside the interface. More...

int	arms () const
	Returns the number of arms defined inside the interface. More...

const std::vector< std::string > &	getEnabledJointNames () const
	Returns a vector of enabled joint names. More...

const std::vector< int > &	getEnabledJointId () const
	Returns a vector of enabled joint IDs. More...

bool	hasJoint (const std::string &joint_name) const
	Checks that a joint with name "joint_name" is defined as an enabled joint inside the interface. More...

bool	hasJoint (int joint_id) const
	Checks that a joint with ID "joint_id" is defined as an enabled joint inside the interface. More...

int	getJointNum () const
	Getter for the number of enabled joints. More...

XBot::Joint::ConstPtr	getJointByName (const std::string &joint_name) const
	Gets the joint with name "joint_name" if it is defined as enabled. More...

XBot::Joint::ConstPtr	getJointByID (int joint_id) const
	Gets the joint with ID "joint_id" if it is defined as enabled. More...

XBot::Joint::ConstPtr	getJointByDofIndex (int idx) const
	Gets the joint with the required dof index. More...

int	getDofIndex (const std::string &joint_name) const
	Gets the Eigen ID of the joint with name "joint_name". More...

int	getDofIndex (int joint_id) const
	Gets the Eigen ID of the joint with ID "joint_id". More...

bool	getDofIndex (const std::string &chain_name, std::vector< int > &ids) const
	Gets dof indices of all joints inside chain "chain_name". More...

void	initLog (MatLogger2::Ptr logger, int buffer_size=-1, int interleave=1, std::string prefix="")
	Pre-allocates memory for logging the robot state to a mat file. More...

void	log (MatLogger2::Ptr logger, double timestamp, const std::string &prefix="") const
	Logs the current robot state. More...

std::map< std::string, ForceTorqueSensor::ConstPtr >	getForceTorque () const
	Getter for the force-torque sensor map pertaining to the whole robot. More...

ForceTorqueSensor::ConstPtr	getForceTorque (const std::string &parent_link_name) const
	Returns a force-torque sensor given its parent-link name. More...

ForceTorqueSensor::ConstPtr	getForceTorque (int ft_id) const
	Returns a force-torque sensor given its sensor ID. More...

std::map< std::string, ImuSensor::ConstPtr >	getImu ()
	Getter for the IMU sensor map pertaining to the chain. More...

ImuSensor::ConstPtr	getImu (const std::string &parent_link_name) const
	Returns an IMU sensor given its parent-link name. More...

ImuSensor::ConstPtr	getImu (int imu_id) const
	Returns an IMU sensor given its sensor ID. More...

std::map< std::string, Hand::Ptr >	getHand ()
	Getter for the hands map pertaining to the whole robot. More...

Hand::Ptr	getHand (int hand_id) const
	Returns a hand given its hand ID. More...

bool	eigenToMap (const Eigen::VectorXd &vector, JointNameMap &name_map) const
	Converts a state vector for the whole robot to its JointNameMap representation. More...

bool	eigenToMap (const Eigen::VectorXd &vector, JointIdMap &id_map) const
	Converts a state vector for the whole robot to its JointIdMap representation. More...

bool	mapToEigen (const JointNameMap &map, Eigen::VectorXd &vector) const
	Converts a state vector for an arbitrary subset of the robot state (specified as a JointNameMap) to its Eigen representation. More...

bool	mapToEigen (const JointIdMap &map, Eigen::VectorXd &vector) const
	Converts a state vector for an arbitrary subset of the robot state (specified as a JointIdMap) to its Eigen representation. More...

bool	getJointPosition (Eigen::VectorXd &q) const
	Gets the robot joint positions as an Eigen vector. More...

bool	getMotorPosition (Eigen::VectorXd &q) const
	Gets the robot motor positions as an Eigen vector. More...

bool	getJointVelocity (Eigen::VectorXd &qdot) const
	Gets the robot joint velocities as an Eigen vector. More...

bool	getMotorVelocity (Eigen::VectorXd &qdot) const
	Gets the robot motor velocities as an Eigen vector. More...

bool	getJointAcceleration (Eigen::VectorXd &qddot) const
	Gets the robot joint accelerations as an Eigen vector. More...

bool	getJointEffort (Eigen::VectorXd &tau) const
	Gets the robot joint efforts as an Eigen vector. More...

bool	getTemperature (Eigen::VectorXd &temp) const
	Gets the robot joint temperatures as an Eigen vector. More...

bool	getJointPosition (JointIdMap &q) const
	Gets the robot joint positions as a JointIdMap, i.e. More...

bool	getMotorPosition (JointIdMap &q) const
	Gets the robot motor positions as a JointIdMap, i.e. More...

bool	getJointVelocity (JointIdMap &qdot) const
	Gets the robot joint velocities as a JointIdMap, i.e. More...

bool	getMotorVelocity (JointIdMap &qdot) const
	Gets the robot motor velocities as a JointIdMap, i.e. More...

bool	getJointAcceleration (JointIdMap &qddot) const
	Gets the robot joint accelerations as a JointIdMap, i.e. More...

bool	getJointEffort (JointIdMap &tau) const
	Gets the robot joint efforts as a JointIdMap, i.e. More...

bool	getTemperature (JointIdMap &temp) const
	Gets the robot joint temperatures as a JointIdMap, i.e. More...

bool	getJointPosition (JointNameMap &q) const
	Gets the robot joint postions as a JointNameMap, i.e. More...

bool	getMotorPosition (JointNameMap &q) const
	Gets the robot motor postions as a JointNameMap, i.e. More...

bool	getJointVelocity (JointNameMap &qdot) const
	Gets the robot joint velocities as a JointNameMap, i.e. More...

bool	getMotorVelocity (JointNameMap &qdot) const
	Gets the robot motor velocities as a JointNameMap, i.e. More...

bool	getJointAcceleration (JointNameMap &qddot) const
	Gets the robot joint accelerations as a JointNameMap, i.e. More...

bool	getJointEffort (JointNameMap &tau) const
	Gets the robot joint efforts as a JointNameMap, i.e. More...

bool	getTemperature (JointNameMap &temp) const
	Gets the robot joint temperatures as a JointNameMap, i.e. More...

bool	setJointPosition (const Eigen::VectorXd &q)
	Sets the XBotInterface internal joint positions according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setMotorPosition (const Eigen::VectorXd &q)
	Sets the XBotInterface internal motor positions according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setJointVelocity (const Eigen::VectorXd &qdot)
	Sets the XBotInterface internal joint velocities according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setMotorVelocity (const Eigen::VectorXd &qdot)
	Sets the XBotInterface internal motor velocities according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setJointAcceleration (const Eigen::VectorXd &qddot)
	Sets the XBotInterface internal joint accelerations according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setJointEffort (const Eigen::VectorXd &tau)
	Sets the XBotInterface internal joint efforts according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setTemperature (const Eigen::VectorXd &temp)
	Sets the XBotInterface internal joint temperatures according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setJointPosition (const JointIdMap &q)
	Sets the XBotInterface internal joint positions according to the input JointIdMap (i.e. More...

bool	setMotorPosition (const JointIdMap &q)
	Sets the XBotInterface internal motor positions according to the input JointIdMap (i.e. More...

bool	setJointVelocity (const JointIdMap &qdot)
	Sets the XBotInterface internal joint velocities according to the input JointIdMap (i.e. More...

bool	setMotorVelocity (const JointIdMap &qdot)
	Sets the XBotInterface internal motor velocities according to the input JointIdMap (i.e. More...

bool	setJointAcceleration (const JointIdMap &qddot)
	Sets the XBotInterface internal joint accelerations according to the input JointIdMap (i.e. More...

bool	setJointEffort (const JointIdMap &tau)
	Sets the XBotInterface internal joint efforts according to the input JointIdMap (i.e. More...

bool	setTemperature (const JointIdMap &temp)
	Sets the XBotInterface internal motor temperatures according to the input JointIdMap (i.e. More...

bool	setJointPosition (const JointNameMap &q)
	Sets the XBotInterface internal joint positions according to the input JointNameMap (i.e. More...

bool	setMotorPosition (const JointNameMap &q)
	Sets the XBotInterface internal motor positions according to the input JointNameMap (i.e. More...

bool	setJointVelocity (const JointNameMap &qdot)
	Sets the XBotInterface internal joint velocities according to the input JointNameMap (i.e. More...

bool	setMotorVelocity (const JointNameMap &qdot)
	Sets the XBotInterface internal motor velocities according to the input JointNameMap (i.e. More...

bool	setJointAcceleration (const JointNameMap &qddot)
	Sets the XBotInterface internal joint accelerations according to the input JointNameMap (i.e. More...

bool	setJointEffort (const JointNameMap &tau)
	Sets the XBotInterface internal joint efforts according to the input JointNameMap (i.e. More...

bool	setTemperature (const JointNameMap &temp)
	Sets the XBotInterface internal joint temperatures according to the input JointNameMap (i.e. More...

bool	getPositionReference (Eigen::VectorXd &q) const
	Gets the robot position references as an Eigen vector. More...

bool	getVelocityReference (Eigen::VectorXd &qdot) const
	Gets the robot velocity references as an Eigen vector. More...

bool	getEffortReference (Eigen::VectorXd &tau) const
	Gets the robot effort references as an Eigen vector. More...

bool	getStiffness (Eigen::VectorXd &K) const
	Gets the robot stiffness as an Eigen vector. More...

bool	getDamping (Eigen::VectorXd &D) const
	Gets the robot damping as an Eigen vector. More...

bool	getPositionReference (JointIdMap &q) const
	Gets the robot position references as a JointIdMap, i.e. More...

bool	getVelocityReference (JointIdMap &qdot) const
	Gets the robot velocity references as a JointIdMap, i.e. More...

bool	getEffortReference (JointIdMap &tau) const
	Gets the robot effort references as a JointIdMap, i.e. More...

bool	getStiffness (JointIdMap &K) const
	Gets the robot stiffness as a JointIdMap, i.e. More...

bool	getDamping (JointIdMap &D) const
	Gets the robot damping as a JointIdMap, i.e. More...

bool	getPositionReference (JointNameMap &q) const
	Gets the robot postion references as a JointNameMap, i.e. More...

bool	getVelocityReference (JointNameMap &qdot) const
	Gets the robot velocity references as a JointNameMap, i.e. More...

bool	getEffortReference (JointNameMap &tau) const
	Gets the robot effort references as a JointNameMap, i.e. More...

bool	getStiffness (JointNameMap &K) const
	Gets the robot stiffness as a JointNameMap, i.e. More...

bool	getDamping (JointNameMap &D) const
	Gets the robot damping as a JointNameMap, i.e. More...

bool	setPositionReference (const Eigen::VectorXd &q)
	Sets the XBotInterface internal joint position references according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setVelocityReference (const Eigen::VectorXd &qdot)
	Sets the XBotInterface internal joint velocity references according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setEffortReference (const Eigen::VectorXd &tau)
	Sets the XBotInterface internal joint effort references according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setStiffness (const Eigen::VectorXd &K)
	Sets the XBotInterface internal joint stiffness according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setDamping (const Eigen::VectorXd &D)
	Sets the XBotInterface internal joint damping according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setPositionReference (const JointIdMap &q)
	Sets the XBotInterface internal joint position references according to the input JointIdMap (i.e. More...

bool	setVelocityReference (const JointIdMap &qdot)
	Sets the XBotInterface internal joint velocity references according to the input JointIdMap (i.e. More...

bool	setEffortReference (const JointIdMap &tau)
	Sets the XBotInterface internal joint effort references according to the input JointIdMap (i.e. More...

bool	setStiffness (const JointIdMap &K)
	Sets the XBotInterface internal joint stiffness according to the input JointIdMap (i.e. More...

bool	setDamping (const JointIdMap &D)
	Sets the XBotInterface internal joint damping according to the input JointIdMap (i.e. More...

bool	setPositionReference (const JointNameMap &q)
	Sets the XBotInterface internal joint position references according to the input JointNameMap (i.e. More...

bool	setVelocityReference (const JointNameMap &qdot)
	Sets the XBotInterface internal joint velocity references according to the input JointNameMap (i.e. More...

bool	setEffortReference (const JointNameMap &tau)
	Sets the XBotInterface internal joint effort references according to the input JointNameMap (i.e. More...

bool	setStiffness (const JointNameMap &K)
	Sets the XBotInterface internal joint stiffness according to the input JointNameMap (i.e. More...

bool	setDamping (const JointNameMap &D)
	Sets the XBotInterface internal joint damping according to the input JointNameMap (i.e. More...

void	getJointLimits (Eigen::VectorXd &q_min, Eigen::VectorXd &q_max) const
	Gets a vector of the robot joint limits, as specified in the URDF file. More...

void	getVelocityLimits (Eigen::VectorXd &qdot_max) const
	Gets a vector of the robot joint velocity limits, as specified in the URDF file. More...

void	getEffortLimits (Eigen::VectorXd &tau_max) const
	Gets a vector of the robot joint effort limits, as specified in the URDF file. More...

bool	checkJointLimits (const Eigen::VectorXd &q, std::vector< std::string > &violating_joints) const
	Check the input joint position vector against joint limits. More...

bool	checkVelocityLimits (const Eigen::VectorXd &qdot, std::vector< std::string > &violating_joints) const
	Check the input joint velocity vector against joint limits. More...

bool	checkEffortLimits (const Eigen::VectorXd &tau, std::vector< std::string > &violating_joints) const
	Check the input joint effort vector against joint limits. More...

bool	checkJointLimits (const Eigen::VectorXd &q) const
	Check the input joint position vector against joint limits. More...

bool	checkVelocityLimits (const Eigen::VectorXd &qdot) const
	Check the input joint velocity vector against joint limits. More...

bool	checkEffortLimits (const Eigen::VectorXd &tau) const
	Check the input joint effort vector against joint limits. More...

bool	enforceJointLimits (JointIdMap &q) const
	Modifies the input joint position map by enforcing joint limits. More...

bool	enforceJointLimits (JointNameMap &q) const
	Modifies the input joint position map by enforcing joint limits. More...

bool	enforceJointLimits (Eigen::VectorXd &q) const
	Modifies the input joint position vector by enforcing joint limits. More...

bool	enforceEffortLimit (Eigen::VectorXd &tau) const
	Modifies the input joint effort vector by enforcing effort limits. More...

bool	enforceVelocityLimit (Eigen::VectorXd &qdot) const
	Modifies the input joint velcoity vector by enforcing joint limits. More...

template<typename... SyncFlags>
bool	sync (const XBotInterface &other, SyncFlags... flags)
	Synchronize the current XBotInterface with another XBotInterface object: only the common chains will be taken into account. More...

const std::map< std::string, XBot::KinematicChain::Ptr > &	getChainMap () const
	Getter for the chain map inside the XBotInterface. More...

void	print () const
	Print a pretty table about the robot state. More...

void	printTracking () const
	Print a pretty table about the robot tracking. More...

Static Public Member Functions
static void	clearRobotMap (void)

static RobotInterface::Ptr	getRobot (const ConfigOptions &config, const std::string &robot_name="")
	... More...

static RobotInterface::Ptr	getRobot (const std::string &path_to_cfg, const std::string &robot_name="", AnyMapConstPtr any_map=AnyMapConstPtr(), const std::string &framework="")
	Getter for the robot singleton. More...

Protected Member Functions
virtual bool	post_init ()

virtual bool	sense_internal (bool sync_references)=0

virtual bool	read_sensors ()=0

virtual bool	sense_hands ()=0

virtual bool	move_internal ()=0

virtual bool	move_hands ()=0

virtual bool	init_robot (const ConfigOptions &config)=0

virtual bool	set_control_mode_internal (int joint_id, const ControlMode &control_mode)

bool	setJointPosition (const Eigen::VectorXd &q)
	Sets the XBotInterface internal joint positions according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setJointPosition (const JointIdMap &q)
	Sets the XBotInterface internal joint positions according to the input JointIdMap (i.e. More...

bool	setJointPosition (const JointNameMap &q)
	Sets the XBotInterface internal joint positions according to the input JointNameMap (i.e. More...

bool	setMotorPosition (const Eigen::VectorXd &q)
	Sets the XBotInterface internal motor positions according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setMotorPosition (const JointIdMap &q)
	Sets the XBotInterface internal motor positions according to the input JointIdMap (i.e. More...

bool	setMotorPosition (const JointNameMap &q)
	Sets the XBotInterface internal motor positions according to the input JointNameMap (i.e. More...

bool	setJointVelocity (const Eigen::VectorXd &qdot)
	Sets the XBotInterface internal joint velocities according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setJointVelocity (const JointIdMap &qdot)
	Sets the XBotInterface internal joint velocities according to the input JointIdMap (i.e. More...

bool	setJointVelocity (const JointNameMap &qdot)
	Sets the XBotInterface internal joint velocities according to the input JointNameMap (i.e. More...

bool	setMotorVelocity (const Eigen::VectorXd &qdot)
	Sets the XBotInterface internal motor velocities according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setMotorVelocity (const JointIdMap &qdot)
	Sets the XBotInterface internal motor velocities according to the input JointIdMap (i.e. More...

bool	setMotorVelocity (const JointNameMap &qdot)
	Sets the XBotInterface internal motor velocities according to the input JointNameMap (i.e. More...

bool	setJointEffort (const Eigen::VectorXd &tau)
	Sets the XBotInterface internal joint efforts according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setJointEffort (const JointIdMap &tau)
	Sets the XBotInterface internal joint efforts according to the input JointIdMap (i.e. More...

bool	setJointEffort (const JointNameMap &tau)
	Sets the XBotInterface internal joint efforts according to the input JointNameMap (i.e. More...

bool	setTemperature (const Eigen::VectorXd &temp)
	Sets the XBotInterface internal joint temperatures according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setTemperature (const JointIdMap &temp)
	Sets the XBotInterface internal motor temperatures according to the input JointIdMap (i.e. More...

bool	setTemperature (const JointNameMap &temp)
	Sets the XBotInterface internal joint temperatures according to the input JointNameMap (i.e. More...

bool	setJointAcceleration (const Eigen::VectorXd &qddot)
	Sets the XBotInterface internal joint accelerations according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...

bool	setJointAcceleration (const JointIdMap &qddot)
	Sets the XBotInterface internal joint accelerations according to the input JointIdMap (i.e. More...

bool	setJointAcceleration (const JointNameMap &qddot)
	Sets the XBotInterface internal joint accelerations according to the input JointNameMap (i.e. More...

bool	getJointAcceleration (Eigen::VectorXd &qddot) const
	Gets the robot joint accelerations as an Eigen vector. More...

bool	getJointAcceleration (JointIdMap &qddot) const
	Gets the robot joint accelerations as a JointIdMap, i.e. More...

bool	getJointAcceleration (JointNameMap &qddot) const
	Gets the robot joint accelerations as a JointNameMap, i.e. More...

template<typename... SyncFlags>
bool	sync (const XBotInterface &other, SyncFlags... flags)
	Synchronize the current XBotInterface with another XBotInterface object: only the common chains will be taken into account. More...

const std::map< std::string, XBot::KinematicChain::Ptr > &	getChainMap () const
	Getter for the chain map inside the XBotInterface. More...

Protected Member Functions inherited from XBot::XBotInterface
Joint::Ptr	getJointByNameInternal (const std::string &joint_name) const

Joint::Ptr	getJointByIdInternal (int joint_id) const

Joint::Ptr	getJointByDofIndexInternal (int dof_index) const

const std::map< std::string, ForceTorqueSensor::Ptr > &	getForceTorqueInternal () const

const std::map< std::string, ImuSensor::Ptr > &	getImuInternal () const

const std::vector< std::string > &	getModelOrderedChainName () const

Additional Inherited Members
Protected Attributes inherited from XBot::XBotInterface
XBotCoreModel	_XBotModel

std::map< std::string, XBot::KinematicChain::Ptr >	_chain_map

std::vector< Joint::Ptr >	_ordered_joint_vector

std::vector< Joint::Ptr >	_joint_vector

std::map< std::string, ForceTorqueSensor::Ptr >	_ft_map

std::map< int, ForceTorqueSensor::Ptr >	_ft_id_map

std::map< std::string, ImuSensor::Ptr >	_imu_map

std::map< int, ImuSensor::Ptr >	_imu_id_map

std::map< std::string, Hand::Ptr >	_hand_map

std::map< int, Hand::Ptr >	_hand_id_map

std::vector< std::string >	_ordered_chain_names

std::map< int, int >	_joint_id_to_eigen_id

std::map< std::string, int >	_joint_name_to_eigen_id

Member Typedef Documentation

◆ ConstPtr

typedef std::shared_ptr<const RobotInterface> XBot::RobotInterface::ConstPtr

◆ Ptr

typedef std::shared_ptr<RobotInterface> XBot::RobotInterface::Ptr

Constructor & Destructor Documentation

◆ RobotInterface() [1/2]

XBot::RobotInterface::RobotInterface ( )

Default constructor.

◆ ~RobotInterface()

virtual XBot::RobotInterface::~RobotInterface ( )

virtualdefault

◆ RobotInterface() [2/2]

XBot::RobotInterface::RobotInterface ( const RobotInterface & other )

delete

Member Function Documentation

◆ arm() [1/2]

XBot::RobotChain & XBot::RobotInterface::arm ( int arm_id )

Getter for the standard kinematic group arm: you can quickly access the i-th arm in the order specified in the SRDF.

Parameters

arm_id the id of the requested arm (i.e. the index as specifed in the SRDF group

Returns: the arm chain with the requested arm_id

◆ arm() [2/2]

const XBot::RobotChain & XBot::RobotInterface::arm ( int arm_id ) const

◆ chain() [1/2]

XBot::RobotChain & XBot::RobotInterface::chain ( const std::string & chain_name )

Getter for the robot chain with a certain chain_name.

Parameters

chain_name the requested chain name

Returns: the robot chain with the requested chain_name

◆ chain() [2/2]

const XBot::RobotChain & XBot::RobotInterface::chain ( const std::string & chain_name ) const

◆ clearRobotMap()

void XBot::RobotInterface::clearRobotMap ( void )

static

◆ getChainMap()

const std::map< std::string, XBot::KinematicChain::Ptr > & XBot::XBotInterface::getChainMap

protected

Getter for the chain map inside the XBotInterface.

Returns: the chain map inside the XBotInterface

◆ getControlMode() [1/2]

void XBot::RobotInterface::getControlMode ( std::map< int, ControlMode > & control_mode ) const

◆ getControlMode() [2/2]

void XBot::RobotInterface::getControlMode ( std::map< std::string, ControlMode > & control_mode ) const

◆ getDamping() [1/3]

bool XBot::XBotInterface::getDamping

Gets the robot damping as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

D	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns: bool

◆ getDamping() [2/3]

bool XBot::XBotInterface::getDamping

Gets the robot damping as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

D	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getDamping() [3/3]

bool XBot::XBotInterface::getDamping

Gets the robot damping as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

D	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getEffortReference() [1/3]

bool XBot::XBotInterface::getEffortReference

Gets the robot effort references as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

tau	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns: bool

◆ getEffortReference() [2/3]

bool XBot::XBotInterface::getEffortReference

Gets the robot effort references as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

tau	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getEffortReference() [3/3]

bool XBot::XBotInterface::getEffortReference

Gets the robot effort references as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

tau	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getJointAcceleration() [1/3]

bool XBot::XBotInterface::getJointAcceleration

protected

Gets the robot joint accelerations as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

qddot A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns: bool

◆ getJointAcceleration() [2/3]

bool XBot::XBotInterface::getJointAcceleration

protected

Gets the robot joint accelerations as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

qddot A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getJointAcceleration() [3/3]

bool XBot::XBotInterface::getJointAcceleration

protected

Gets the robot joint accelerations as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

qddot A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getJointEffort() [1/3]

bool XBot::XBotInterface::getJointEffort

Gets the robot joint efforts as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

tau	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns: bool

◆ getJointEffort() [2/3]

bool XBot::XBotInterface::getJointEffort

Gets the robot joint efforts as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

tau	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getJointEffort() [3/3]

bool XBot::XBotInterface::getJointEffort

Gets the robot joint efforts as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

tau	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getJointPosition() [1/3]

bool XBot::XBotInterface::getJointPosition

Gets the robot joint positions as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

q	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns: bool

◆ getJointPosition() [2/3]

bool XBot::XBotInterface::getJointPosition

Gets the robot joint positions as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

q	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getJointPosition() [3/3]

bool XBot::XBotInterface::getJointPosition

Gets the robot joint postions as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

q	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getJointVelocity() [1/3]

bool XBot::XBotInterface::getJointVelocity

Gets the robot joint velocities as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

qdot	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns: bool

◆ getJointVelocity() [2/3]

bool XBot::XBotInterface::getJointVelocity

Gets the robot joint velocities as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

qdot	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getJointVelocity() [3/3]

bool XBot::XBotInterface::getJointVelocity

Gets the robot joint velocities as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

qdot	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getMotorPosition() [1/3]

bool XBot::XBotInterface::getMotorPosition

Gets the robot motor positions as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

q	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns: bool

◆ getMotorPosition() [2/3]

bool XBot::XBotInterface::getMotorPosition

Gets the robot motor positions as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

q	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getMotorPosition() [3/3]

bool XBot::XBotInterface::getMotorPosition

Gets the robot motor postions as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

q	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getMotorVelocity() [1/3]

bool XBot::XBotInterface::getMotorVelocity

Gets the robot motor velocities as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

qdot	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns: bool

◆ getMotorVelocity() [2/3]

bool XBot::XBotInterface::getMotorVelocity

Gets the robot motor velocities as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

qdot	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getMotorVelocity() [3/3]

bool XBot::XBotInterface::getMotorVelocity

Gets the robot motor velocities as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

qdot	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getPositionReference() [1/3]

bool XBot::XBotInterface::getPositionReference

Gets the robot position references as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

q	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns: bool

◆ getPositionReference() [2/3]

bool XBot::XBotInterface::getPositionReference

Gets the robot position references as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

q	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getPositionReference() [3/3]

bool XBot::XBotInterface::getPositionReference

Gets the robot postion references as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

q	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getRobot() [1/2]

XBot::RobotInterface::Ptr XBot::RobotInterface::getRobot	(	const ConfigOptions &	config,
		const std::string &	robot_name = `""`
	)

static

...

Parameters

config	...
robot_name	...

Returns: XBot::RobotInterface::Ptr

◆ getRobot() [2/2]

XBot::RobotInterface::Ptr XBot::RobotInterface::getRobot	(	const std::string &	path_to_cfg,
		const std::string &	robot_name = `""`,
		AnyMapConstPtr	any_map = `AnyMapConstPtr()`,
		const std::string &	framework = `""`
	)

static

Getter for the robot singleton.

Parameters

path_to_cfg	path to the config file where the robot parameters(e.g. control framework, internal model ...) are specified
any_map	a map with objects needed by RobotInterface actual implementations

Returns: a shared pointer to the RobotInterface instance

◆ getStiffness() [1/3]

bool XBot::XBotInterface::getStiffness

Gets the robot stiffness as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

K	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns: bool

◆ getStiffness() [2/3]

bool XBot::XBotInterface::getStiffness

Gets the robot stiffness as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

K	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getStiffness() [3/3]

bool XBot::XBotInterface::getStiffness

Gets the robot stiffness as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

K	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getTemperature() [1/3]

bool XBot::XBotInterface::getTemperature

Gets the robot joint temperatures as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

temp	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns: bool

◆ getTemperature() [2/3]

bool XBot::XBotInterface::getTemperature

Gets the robot joint temperatures as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

temp	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getTemperature() [3/3]

bool XBot::XBotInterface::getTemperature

Gets the robot joint temperatures as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

temp	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getTime()

virtual double XBot::RobotInterface::getTime ( ) const

pure virtual

Getter for the time in the robot framework.

Returns: the time in the robot framework

◆ getTimestampRx()

double XBot::RobotInterface::getTimestampRx ( ) const

Get the RX timestamp: it corresponds to the last call to sense()

Returns: the RX timestamp in seconds

◆ getTimestampTx()

double XBot::RobotInterface::getTimestampTx ( ) const

Get the TX timestamp: it corresponds to the last call to move()

Returns: the TX timestamp in seconds

◆ getVelocityReference() [1/3]

bool XBot::XBotInterface::getVelocityReference

Gets the robot velocity references as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

qdot	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns: bool

◆ getVelocityReference() [2/3]

bool XBot::XBotInterface::getVelocityReference

Gets the robot velocity references as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

qdot	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ getVelocityReference() [3/3]

bool XBot::XBotInterface::getVelocityReference

Gets the robot velocity references as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

qdot	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns: bool

◆ init_robot()

virtual bool XBot::RobotInterface::init_robot ( const ConfigOptions & config )

protectedpure virtual

◆ isRunning()

virtual bool XBot::RobotInterface::isRunning ( ) const

pure virtual

...

Returns: bool

◆ leg() [1/2]

XBot::RobotChain & XBot::RobotInterface::leg ( int leg_id )

Getter for the standard kinematic group leg: you can quickly access the i-th leg in the order specified in the SRDF.

Parameters

arm_id the id of the requested leg (i.e. the index as specifed in the SRDF group

Returns: the leg chain with the requested leg_id

◆ leg() [2/2]

const XBot::RobotChain & XBot::RobotInterface::leg ( int leg_id ) const

◆ model()

XBot::ModelInterface & XBot::RobotInterface::model ( )

Getter for the internal model instance.

Returns: the internal model instance

◆ move()

bool XBot::RobotInterface::move ( )

Moves the robot calling the move_internal() implemented by the derived class.

Returns: true if the move is successful, false otherwis

◆ move_hands()

virtual bool XBot::RobotInterface::move_hands ( )

protectedpure virtual

◆ move_internal()

virtual bool XBot::RobotInterface::move_internal ( )

protectedpure virtual

◆ operator()() [1/2]

XBot::RobotChain & XBot::RobotInterface::operator() ( const std::string & chain_name )

Getter for the robot chain with a certain chain_name.

Parameters

chain_name the requested chain name

Returns: the robot chain with the requested chain_name

◆ operator()() [2/2]

const XBot::RobotChain & XBot::RobotInterface::operator() ( const std::string & chain_name ) const

◆ operator=()

RobotInterface& XBot::RobotInterface::operator= ( const RobotInterface & other )

delete

◆ post_init()

bool XBot::RobotInterface::post_init ( )

protectedvirtual

Reimplemented from XBot::XBotInterface.

◆ read_sensors()

virtual bool XBot::RobotInterface::read_sensors ( )

protectedpure virtual

◆ sense()

bool XBot::RobotInterface::sense	(	bool	sync_model = `true`,
		bool	sync_references = `false`
	)

Reads the current state of the robot calling sense_internal() and read_sensors() implemented by the derived class.

It synchronizes the internal model if the sync_model param is true.

Parameters

sync_model	sync flag: true if the internal model needs to be synchronized with the robot
sync_references	sync flag: if true, reference fields (pos ref, vel ref, tor ref, stiffness, damping) are synchronized with the robot controller

Returns: true if the sense is successful, false otherwise

◆ sense_hands()

virtual bool XBot::RobotInterface::sense_hands ( )

protectedpure virtual

◆ sense_internal()

virtual bool XBot::RobotInterface::sense_internal ( bool sync_references )

protectedpure virtual

◆ set_control_mode_internal()

bool XBot::RobotInterface::set_control_mode_internal	(	int	joint_id,
		const ControlMode &	control_mode
	)

protectedvirtual

◆ setControlMode() [1/4]

bool XBot::RobotInterface::setControlMode ( const ControlMode & control_mode )

◆ setControlMode() [2/4]

bool XBot::RobotInterface::setControlMode ( const std::map< int, ControlMode > & control_mode )

◆ setControlMode() [3/4]

bool XBot::RobotInterface::setControlMode ( const std::map< std::string, ControlMode > & control_mode )

◆ setControlMode() [4/4]

bool XBot::RobotInterface::setControlMode	(	const std::string &	chain_name,
		const ControlMode &	control_mode
	)

virtual

◆ setDamping() [1/3]

bool XBot::XBotInterface::setDamping

Sets the XBotInterface internal joint damping according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

D	The vector of input joint states.

Returns: True if the size of the provided vector matches getJointNum().

◆ setDamping() [2/3]

bool XBot::XBotInterface::setDamping

Sets the XBotInterface internal joint damping according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

K	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setDamping() [3/3]

bool XBot::XBotInterface::setDamping

Sets the XBotInterface internal joint damping according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

D	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setEffortReference() [1/3]

bool XBot::XBotInterface::setEffortReference

Sets the XBotInterface internal joint effort references according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

tau	The vector of input joint states.

Returns: True if the size of the provided vector matches getJointNum().

◆ setEffortReference() [2/3]

bool XBot::XBotInterface::setEffortReference

Sets the XBotInterface internal joint effort references according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

tau	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setEffortReference() [3/3]

bool XBot::XBotInterface::setEffortReference

Sets the XBotInterface internal joint effort references according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

tau	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setJointAcceleration() [1/3]

bool XBot::XBotInterface::setJointAcceleration

protected

Sets the XBotInterface internal joint accelerations according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

qddot The vector of input joint states.

Returns: True if the size of the provided vector matches getJointNum().

◆ setJointAcceleration() [2/3]

bool XBot::XBotInterface::setJointAcceleration

protected

Sets the XBotInterface internal joint accelerations according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qddot The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setJointAcceleration() [3/3]

bool XBot::XBotInterface::setJointAcceleration

protected

Sets the XBotInterface internal joint accelerations according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qddot The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setJointEffort() [1/3]

bool XBot::XBotInterface::setJointEffort

protected

Sets the XBotInterface internal joint efforts according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

tau	The vector of input joint states.

Returns: True if the size of the provided vector matches getJointNum().

◆ setJointEffort() [2/3]

bool XBot::XBotInterface::setJointEffort

protected

Sets the XBotInterface internal joint efforts according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

tau	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setJointEffort() [3/3]

bool XBot::XBotInterface::setJointEffort

protected

Sets the XBotInterface internal joint efforts according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

tau	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setJointPosition() [1/3]

bool XBot::XBotInterface::setJointPosition

protected

Sets the XBotInterface internal joint positions according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

q	The vector of input joint states.

Returns: True if the size of the provided vector matches getJointNum().

◆ setJointPosition() [2/3]

bool XBot::XBotInterface::setJointPosition

protected

Sets the XBotInterface internal joint positions according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

q	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setJointPosition() [3/3]

bool XBot::XBotInterface::setJointPosition

protected

Sets the XBotInterface internal joint positions according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

q	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setJointVelocity() [1/3]

bool XBot::XBotInterface::setJointVelocity

protected

Sets the XBotInterface internal joint velocities according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

qdot	The vector of input joint states.

Returns: True if the size of the provided vector matches getJointNum().

◆ setJointVelocity() [2/3]

bool XBot::XBotInterface::setJointVelocity

protected

Sets the XBotInterface internal joint velocities according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qdot	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setJointVelocity() [3/3]

bool XBot::XBotInterface::setJointVelocity

protected

Sets the XBotInterface internal joint velocities according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qdot	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setMotorPosition() [1/3]

bool XBot::XBotInterface::setMotorPosition

protected

Sets the XBotInterface internal motor positions according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

q	The vector of input joint states.

Returns: True if the size of the provided vector matches getJointNum().

◆ setMotorPosition() [2/3]

bool XBot::XBotInterface::setMotorPosition

protected

Sets the XBotInterface internal motor positions according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

q	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setMotorPosition() [3/3]

bool XBot::XBotInterface::setMotorPosition

protected

Sets the XBotInterface internal motor positions according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

q	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setMotorVelocity() [1/3]

bool XBot::XBotInterface::setMotorVelocity

protected

Sets the XBotInterface internal motor velocities according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

qdot	The vector of input joint states.

Returns: True if the size of the provided vector matches getJointNum().

◆ setMotorVelocity() [2/3]

bool XBot::XBotInterface::setMotorVelocity

protected

Sets the XBotInterface internal motor velocities according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qdot	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setMotorVelocity() [3/3]

bool XBot::XBotInterface::setMotorVelocity

protected

Sets the XBotInterface internal motor velocities according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qdot	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setPositionReference() [1/3]

bool XBot::XBotInterface::setPositionReference

Sets the XBotInterface internal joint position references according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

q	The vector of input joint states.

Returns: True if the size of the provided vector matches getJointNum().

◆ setPositionReference() [2/3]

bool XBot::XBotInterface::setPositionReference

Sets the XBotInterface internal joint position references according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

q	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setPositionReference() [3/3]

bool XBot::XBotInterface::setPositionReference

Sets the XBotInterface internal joint position references according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

q	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setReferenceFrom()

template<typename... SyncFlags>

bool XBot::RobotInterface::setReferenceFrom	(	const ModelInterface &	model,
		SyncFlags...	flags
	)

Sets the robot references according to a ModelInterface.

Flags can be specified to select a part of the state to be synchronized.

@usage robot.setReferenceFrom(model, XBot::Sync::Position, XBot::Sync::Effort) @usage robot.setReferenceFrom(other_model, XBot::Sync::Position)

Parameters

model The ModelInterface whose state is used as a reference for the robot. model.

flags

Flags to specify what part of the model state must be used a reference. By default (i.e. if this argument is omitted) the whole state is used. Otherwise, an arbitrary number of flags can be specified in order to select a subset of the state. The flags must be of the enum type XBot::Sync, which can take the following values:

Returns: True if the synchronization is allowed, false otherwise.

◆ setStiffness() [1/3]

bool XBot::XBotInterface::setStiffness

Sets the XBotInterface internal joint stiffness according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

K	The vector of input joint states.

Returns: True if the size of the provided vector matches getJointNum().

◆ setStiffness() [2/3]

bool XBot::XBotInterface::setStiffness

Sets the XBotInterface internal joint stiffness according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

K	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setStiffness() [3/3]

bool XBot::XBotInterface::setStiffness

Sets the XBotInterface internal joint stiffness according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

K	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setTemperature() [1/3]

bool XBot::XBotInterface::setTemperature

protected

Sets the XBotInterface internal joint temperatures according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

temp	The vector of input joint states.

Returns: True if the size of the provided vector matches getJointNum().

◆ setTemperature() [2/3]

bool XBot::XBotInterface::setTemperature

protected

Sets the XBotInterface internal motor temperatures according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

temp	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setTemperature() [3/3]

bool XBot::XBotInterface::setTemperature

protected

Sets the XBotInterface internal joint temperatures according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

temp	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setVelocityReference() [1/3]

bool XBot::XBotInterface::setVelocityReference

Sets the XBotInterface internal joint velocity references according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

qdot	The vector of input joint states.

Returns: True if the size of the provided vector matches getJointNum().

◆ setVelocityReference() [2/3]

bool XBot::XBotInterface::setVelocityReference

Sets the XBotInterface internal joint velocity references according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qdot	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ setVelocityReference() [3/3]

bool XBot::XBotInterface::setVelocityReference

Sets the XBotInterface internal joint velocity references according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qdot	The input JointIdMap

Returns: True if all joint IDs inside the provided map are valid.

◆ sync()

template<typename... SyncFlags>

bool XBot::XBotInterface::sync ( typename... SyncFlags )

protected

Synchronize the current XBotInterface with another XBotInterface object: only the common chains will be taken into account.

Parameters

flags	...
other	The XBotInterface object from which we synchronize the current object

Returns: Always true because we support synchronization btw XBotInterfaces with different chains.

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

/home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/include/XBotInterface/RobotInterface.h
/home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/src/RobotInterface.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ RobotInterface() [1/2]

◆ ~RobotInterface()

◆ RobotInterface() [2/2]

Member Function Documentation

◆ arm() [1/2]

◆ arm() [2/2]

◆ chain() [1/2]

◆ chain() [2/2]

◆ clearRobotMap()

◆ getChainMap()

◆ getControlMode() [1/2]

◆ getControlMode() [2/2]

◆ getDamping() [1/3]

◆ getDamping() [2/3]

◆ getDamping() [3/3]

◆ getEffortReference() [1/3]

◆ getEffortReference() [2/3]

◆ getEffortReference() [3/3]

◆ getJointAcceleration() [1/3]

◆ getJointAcceleration() [2/3]

◆ getJointAcceleration() [3/3]

◆ getJointEffort() [1/3]

◆ getJointEffort() [2/3]

◆ getJointEffort() [3/3]

◆ getJointPosition() [1/3]

◆ getJointPosition() [2/3]

◆ getJointPosition() [3/3]

◆ getJointVelocity() [1/3]

◆ getJointVelocity() [2/3]

◆ getJointVelocity() [3/3]

◆ getMotorPosition() [1/3]

◆ getMotorPosition() [2/3]

◆ getMotorPosition() [3/3]

◆ getMotorVelocity() [1/3]

◆ getMotorVelocity() [2/3]

◆ getMotorVelocity() [3/3]

◆ getPositionReference() [1/3]

◆ getPositionReference() [2/3]

◆ getPositionReference() [3/3]

◆ getRobot() [1/2]

◆ getRobot() [2/2]

◆ getStiffness() [1/3]

◆ getStiffness() [2/3]

◆ getStiffness() [3/3]

◆ getTemperature() [1/3]

◆ getTemperature() [2/3]

◆ getTemperature() [3/3]

◆ getTime()

◆ getTimestampRx()

◆ getTimestampTx()

◆ getVelocityReference() [1/3]

◆ getVelocityReference() [2/3]

◆ getVelocityReference() [3/3]

◆ init_robot()

◆ isRunning()

◆ leg() [1/2]

◆ leg() [2/2]

◆ model()

◆ move()

◆ move_hands()

◆ move_internal()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator=()

◆ post_init()

◆ read_sensors()

◆ sense()

◆ sense_hands()

◆ sense_internal()

◆ set_control_mode_internal()

◆ setControlMode() [1/4]