#include <XBotInterface.h>

Inheritance diagram for XBot::XBotInterface:

Collaboration diagram for XBot::XBotInterface:

Public Types
typedef std::shared_ptr< XBotInterface >	Ptr

typedef std::shared_ptr< const XBotInterface >	ConstPtr

Public Member Functions
	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...

Protected Member Functions
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

virtual bool	init_internal (const ConfigOptions &config)

virtual bool	post_init ()

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

Protected Attributes
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

Friends
std::ostream &	operator<< (std::ostream &os, const XBot::XBotInterface &robot)

Member Typedef Documentation

◆ ConstPtr

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

◆ Ptr

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

Constructor & Destructor Documentation

◆ XBotInterface() [1/2]

XBot::XBotInterface::XBotInterface ( )

◆ XBotInterface() [2/2]

XBot::XBotInterface::XBotInterface ( const XBotInterface & other )

◆ ~XBotInterface()

XBot::XBotInterface::~XBotInterface ( )

virtual

Member Function Documentation

◆ arms()

int XBot::XBotInterface::arms ( ) const

Returns the number of arms defined inside the interface.

This equals the number of elements of the "arms" group inside the SRDF which was provided in the YAML config file.

Returns: The number of defined arms.

◆ checkEffortLimits() [1/2]

bool XBot::XBotInterface::checkEffortLimits ( const Eigen::VectorXd & tau ) const

Check the input joint effort vector against joint limits.

Parameters

tau	A joint effort vector to be checked against joint limits.

Returns: True if all joints are within their limits.

◆ checkEffortLimits() [2/2]

bool XBot::XBotInterface::checkEffortLimits	(	const Eigen::VectorXd &	tau,
		std::vector< std::string > &	violating_joints
	)		const

Check the input joint effort vector against joint limits.

The names of joints violating the limits are pushed into the violating_joints vector (which is not cleared before being filled)

Parameters

tau	A joint position vector to be checked against joint limits.
violating_joints	The vector of the names of joints violating the limits. Note that this is not cleared before use.

Returns: True if all joints are within their limits.

◆ checkJointLimits() [1/2]

bool XBot::XBotInterface::checkJointLimits ( const Eigen::VectorXd & q ) const

Check the input joint position vector against joint limits.

Parameters

q	A joint position vector to be checked against joint limits.

Returns: True if all joints are within their limits.

◆ checkJointLimits() [2/2]

bool XBot::XBotInterface::checkJointLimits	(	const Eigen::VectorXd &	q,
		std::vector< std::string > &	violating_joints
	)		const

Check the input joint position vector against joint limits.

The names of joints violating the limits are pushed into the violating_joints vector (which is not cleared before being filled)

Parameters

q	A joint position vector to be checked against joint limits.
violating_joints	The vector of the names of joints violating the limits. Note that this is not cleared before use.

Returns: True if all joints are within their limits.

◆ checkVelocityLimits() [1/2]

bool XBot::XBotInterface::checkVelocityLimits ( const Eigen::VectorXd & qdot ) const

Check the input joint velocity vector against joint limits.

Parameters

qdot	A joint velocity vector to be checked against joint limits.

Returns: True if all joints are within their limits.

◆ checkVelocityLimits() [2/2]

bool XBot::XBotInterface::checkVelocityLimits	(	const Eigen::VectorXd &	qdot,
		std::vector< std::string > &	violating_joints
	)		const

Check the input joint velocity vector against joint limits.

The names of joints violating the limits are pushed into the violating_joints vector (which is not cleared before being filled)

Parameters

qdot	A joint position vector to be checked against joint limits.
violating_joints	The vector of the names of joints violating the limits. Note that this is not cleared before use.

Returns: True if all joints are within their limits.

◆ eigenToMap() [1/2]

bool XBot::XBotInterface::eigenToMap	(	const Eigen::VectorXd &	vector,
		XBot::JointIdMap &	id_map
	)		const

Converts a state vector for the whole robot to its JointIdMap representation.

Note that the output map is not cleared before it is filled. It is the responsibility of the user to do so if required.

Parameters

vector	A state vector for the whole robot (its size must match getJointNum())
id_map	The output map to be filled

Returns: True if the input vector is valid.

◆ eigenToMap() [2/2]

bool XBot::XBotInterface::eigenToMap	(	const Eigen::VectorXd &	vector,
		XBot::JointNameMap &	name_map
	)		const

Converts a state vector for the whole robot to its JointNameMap representation.

Note that the output map is not cleared before it is filled. It is the responsibility of the user to do so if required.

Parameters

vector	A state vector for the whole robot (its size must match getJointNum())
name_map	The output map to be filled

Returns: True if the input vector is valid.

◆ enforceEffortLimit()

bool XBot::XBotInterface::enforceEffortLimit ( Eigen::VectorXd & tau ) const

Modifies the input joint effort vector by enforcing effort limits.

Parameters

tau	The input joint effort vector. Out-of-range components are set to the closest joint limit.

Returns: True if the provided vector has the correct size.

◆ enforceJointLimits() [1/3]

bool XBot::XBotInterface::enforceJointLimits ( Eigen::VectorXd & q ) const

Modifies the input joint position vector by enforcing joint limits.

Parameters

q	The input joint position vector. Out-of-range components are set to the closest joint limit.

Returns: True if the provided vector has the correct size.

◆ enforceJointLimits() [2/3]

bool XBot::XBotInterface::enforceJointLimits ( XBot::JointIdMap & q ) const

Modifies the input joint position map by enforcing joint limits.

Parameters

q	The input joint position map. Out-of-range components are set to the closest joint limit.

Returns: True if the provided vector has the correct size.

◆ enforceJointLimits() [3/3]

bool XBot::XBotInterface::enforceJointLimits ( XBot::JointNameMap & q ) const

Modifies the input joint position map by enforcing joint limits.

Parameters

q	The input joint position map. Out-of-range components are set to the closest joint limit.

Returns: True if the provided vector has the correct size.

◆ enforceVelocityLimit()

bool XBot::XBotInterface::enforceVelocityLimit ( Eigen::VectorXd & qdot ) const

Modifies the input joint velcoity vector by enforcing joint limits.

Parameters

qdot	The input joint velocity vector. Out-of-range components are set to the closest joint limit.

Returns: True if the provided vector has the correct size.

◆ getChainMap()

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

Getter for the chain map inside the XBotInterface.

Returns: the chain map inside the XBotInterface

◆ getChainNames()

std::vector< std::string > XBot::XBotInterface::getChainNames ( ) const

Return a vector of available chain names as strings.

Returns: A vector of available chain names.

◆ getConfigOptions()

const XBot::ConfigOptions & XBot::XBotInterface::getConfigOptions ( ) const

Gets the configuration struct that has been used to build the XBotInterface.

Returns: ConfigOptions struct

◆ getDamping() [1/3]

bool XBot::XBotInterface::getDamping ( Eigen::VectorXd & D ) const

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 ( JointIdMap & D ) const

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 ( JointNameMap & D ) const

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

◆ getDofIndex() [1/3]

bool XBot::XBotInterface::getDofIndex	(	const std::string &	chain_name,
		std::vector< int > &	ids
	)		const

Gets dof indices of all joints inside chain "chain_name".

Parameters

chain_name	The name of the requested chain.
ids	The output vector of dof indices.

Returns: True if chain_name is a valid chain name.

◆ getDofIndex() [2/3]

int XBot::XBotInterface::getDofIndex ( const std::string & joint_name ) const

Gets the Eigen ID of the joint with name "joint_name".

This means that the i-th entry of all Eigen vectors which are taken as arguments by XBotInterface methods refers to the joint namd "joint_name".

Parameters

joint_name The name of the required joint.

Returns: The Eigen index of the required joint. A value of -1 is returned when joint_name is not valid.

◆ getDofIndex() [3/3]

int XBot::XBotInterface::getDofIndex ( int joint_id ) const

Gets the Eigen ID of the joint with ID "joint_id".

This means that the i-th entry of all Eigen vectors which are taken as arguments by XBotInterface methods refers to the joint with the given ID.

Parameters

joint_id The ID of the required joint.

Returns: The Eigen index of the required joint. A value of -1 is returned when joint_id is not valid.

◆ getEffortLimits()

void XBot::XBotInterface::getEffortLimits ( Eigen::VectorXd & tau_max ) const

Gets a vector of the robot joint effort limits, as specified in the URDF file.

Parameters

qdot_max The output vector of the chain joints effort limits

Returns: void

◆ getEffortReference() [1/3]

bool XBot::XBotInterface::getEffortReference ( Eigen::VectorXd & tau ) const

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 ( JointIdMap & tau ) const

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 ( JointNameMap & tau ) const

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

◆ getEnabledJointId()

const std::vector< int > & XBot::XBotInterface::getEnabledJointId ( ) const

Returns a vector of enabled joint IDs.

Returns: A const reference to the vector of enabled joint IDs.

◆ getEnabledJointNames()

const std::vector< std::string > & XBot::XBotInterface::getEnabledJointNames ( ) const

Returns a vector of enabled joint names.

Returns: A const reference to the vector of enabled joint names.

◆ getForceTorque() [1/3]

std::map< std::string, XBot::ForceTorqueSensor::ConstPtr > XBot::XBotInterface::getForceTorque ( ) const

Getter for the force-torque sensor map pertaining to the whole robot.

Returns: A map whose key is the sensor name (i.e. the name of the sensor link inside the URDF) and whose value is a shared pointer to the force torque sensor.

◆ getForceTorque() [2/3]

XBot::ForceTorqueSensor::ConstPtr XBot::XBotInterface::getForceTorque ( const std::string & parent_link_name ) const

Returns a force-torque sensor given its parent-link name.

Parameters

parent_link_name Name of the link to which the sensor is attached

Returns: A shared pointer to the required force-torque sensor. The returned pointer is null if the robot either does not contain a link named "parent_link_name" or such a link does not contain any FT.

◆ getForceTorque() [3/3]

XBot::ForceTorqueSensor::ConstPtr XBot::XBotInterface::getForceTorque ( int ft_id ) const

Returns a force-torque sensor given its sensor ID.

Parameters

ft_id Sensor ID as given by ForceTorqueSensor::getSensorId(). If the sensor fixed joint is listed inside the joint id map, then the sensor id is the one specified inside such a file.

Returns: A shared pointer to the required force-torque sensor. The returned pointer is null if the robot does not have an ft with the requested id.

◆ getForceTorqueInternal()

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

protected

◆ getHand() [1/2]

std::map< std::string, XBot::Hand::Ptr > XBot::XBotInterface::getHand ( )

Getter for the hands map pertaining to the whole robot.

Returns: A map whose key is the hand name (i.e. the name of the fixed hand joint in the URDF) and whose value is a shared pointer to the hand.

◆ getHand() [2/2]

XBot::Hand::Ptr XBot::XBotInterface::getHand ( int hand_id ) const

Returns a hand given its hand ID.

Parameters

hand_id hand ID as given by Hand::getHandId(). If the hand fixed joint is listed inside the joint id map, then the hand id is the one specified inside such a file.

Returns: A shared pointer to the required hand. The returned pointer is null if the robot does not have an hand with the requested id.

◆ getImu() [1/3]

std::map< std::string, XBot::ImuSensor::ConstPtr > XBot::XBotInterface::getImu ( )

Getter for the IMU sensor map pertaining to the chain.

Returns: A map whose key is the sensor name (i.e. the name of the sensor link inside the URDF) and whose value is a shared pointer to the IMU sensor.

◆ getImu() [2/3]

XBot::ImuSensor::ConstPtr XBot::XBotInterface::getImu ( const std::string & parent_link_name ) const

Returns an IMU sensor given its parent-link name.

Parameters

parent_link_name Name of the link to which the sensor is attached

Returns: A shared pointer to the required IMU sensor. The returned pointer is null if the chain either does not contain a link named "parent_link_name" or such a link does not contain any IMU.

◆ getImu() [3/3]

XBot::ImuSensor::ConstPtr XBot::XBotInterface::getImu ( int imu_id ) const

Returns an IMU sensor given its sensor ID.

Parameters

imu_id Sensor ID as given by ImuSensor::getSensorId(). If the sensor fixed joint is listed inside the joint id map, then the sensor id is the one specified inside such a file.

Returns: A shared pointer to the required IMU sensor. The returned pointer is null if the robot does not have an imu with the requested id.

◆ getImuInternal()

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

protected

◆ getJointAcceleration() [1/3]

bool XBot::XBotInterface::getJointAcceleration ( Eigen::VectorXd & qddot ) const

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 ( JointIdMap & qddot ) const

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 ( JointNameMap & qddot ) const

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

◆ getJointByDofIndex()

XBot::Joint::ConstPtr XBot::XBotInterface::getJointByDofIndex ( int idx ) const

Gets the joint with the required dof index.

This means that the idx-th entry of all Eigen vectors which are taken as arguments by XBotInterface methods refers to the returned joint.

Parameters

idx	The dof index of the required joint. Valid indices span from 0 to getJointNum()-1.

Returns: A const shared pointer to the required joint. A null pointer is returned if idx is not a valid index.

◆ getJointByDofIndexInternal()

XBot::Joint::Ptr XBot::XBotInterface::getJointByDofIndexInternal ( int dof_index ) const

protected

◆ getJointByID()

XBot::Joint::ConstPtr XBot::XBotInterface::getJointByID ( int joint_id ) const

Gets the joint with ID "joint_id" if it is defined as enabled.

Otherwise, a null pointer is returned and an error is printed to screen. Joint IDs are defined inside a YAML file which is specified in the config file which is used to initialize the interface.

Parameters

joint_id The ID of the required joint.

Returns: A const shared pointer to the required joint. A null pointer is returned if a joint with the requested ID is not defined as enabled.

◆ getJointByIdInternal()

XBot::Joint::Ptr XBot::XBotInterface::getJointByIdInternal ( int joint_id ) const

protected

◆ getJointByName()

XBot::Joint::ConstPtr XBot::XBotInterface::getJointByName ( const std::string & joint_name ) const

Gets the joint with name "joint_name" if it is defined as enabled.

Otherwise, a null pointer is returned and an error is printed to screen.

Parameters

joint_name The name of the required joint.

Returns: A const shared pointer to the required joint. A null pointer is returned if joint_name is not defined as enabled.

◆ getJointByNameInternal()

XBot::Joint::Ptr XBot::XBotInterface::getJointByNameInternal ( const std::string & joint_name ) const

protected

◆ getJointEffort() [1/3]

bool XBot::XBotInterface::getJointEffort ( Eigen::VectorXd & tau ) const

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 ( JointIdMap & tau ) const

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 ( JointNameMap & tau ) const

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

◆ getJointLimits()

void XBot::XBotInterface::getJointLimits	(	Eigen::VectorXd &	q_min,
		Eigen::VectorXd &	q_max
	)		const

Gets a vector of the robot joint limits, as specified in the URDF file.

Parameters

q_min	The output vector of the chain joints lower limits.
q_max	The output vector of the chain joints upper limits.

Returns: void

◆ getJointNum()

int XBot::XBotInterface::getJointNum ( ) const

Getter for the number of enabled joints.

Returns: The number of enabled joints.

◆ getJointPosition() [1/3]

bool XBot::XBotInterface::getJointPosition ( Eigen::VectorXd & q ) const

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 ( JointIdMap & q ) const

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 ( JointNameMap & q ) const

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 ( Eigen::VectorXd & qdot ) const

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 ( JointIdMap & qdot ) const

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 ( JointNameMap & qdot ) const

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

◆ getModelOrderedChainName()

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

protected

◆ getMotorPosition() [1/3]

bool XBot::XBotInterface::getMotorPosition ( Eigen::VectorXd & q ) const

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 ( JointIdMap & q ) const

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 ( JointNameMap & q ) const

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 ( Eigen::VectorXd & qdot ) const

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 ( JointIdMap & qdot ) const

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 ( JointNameMap & qdot ) const

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

◆ getPathToConfig()

const std::string & XBot::XBotInterface::getPathToConfig ( ) const

Gets the path to the YAML config file used to build the XBotInterface.

Returns: Path to config file.

◆ getPositionReference() [1/3]

bool XBot::XBotInterface::getPositionReference ( Eigen::VectorXd & q ) const

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 ( JointIdMap & q ) const

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 ( JointNameMap & q ) const

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

◆ getRobotState() [1/3]

bool XBot::XBotInterface::getRobotState	(	const std::string &	state_name,
		Eigen::VectorXd &	q
	)		const

Gets the robot joints group state configuration as specified in the robot SRDF.

Parameters

state_name	The name of the requested group state.
q	The chain joint configuration as Eigen vector of joint positions, This is an output parameter; any contents present in the vector will be overwritten in this function.

Returns: True if the state_name exists in the SRDF, false otherwise.

◆ getRobotState() [2/3]

bool XBot::XBotInterface::getRobotState	(	const std::string &	state_name,
		JointIdMap &	q
	)		const

Gets the robot joints group state configuration as specified in the robot SRDF.

Parameters

state_name	The name of the requested group state.
q	The robot joint configuration as a map with key representing the joint ID (i.e. numerical name of the joint) and value representing joint positions. This is an output parameter; it will not be cleared before being filled.

Returns: True if the state_name exists in the SRDF, false otherwise.

◆ getRobotState() [3/3]

bool XBot::XBotInterface::getRobotState	(	const std::string &	state_name,
		JointNameMap &	q
	)		const

Gets the robot joints group state configuration as specified in the robot SRDF.

Parameters

state_name	The name of the requested group state.
q	The robot joint configuration as a map with key representing the joint name and value representing joint positions. This is an output parameter; it will not be cleared before being filled.

Returns: True if the state_name exists in the SRDF, false otherwise.

◆ getSrdf()

const srdf_advr::Model & XBot::XBotInterface::getSrdf ( ) const

Getter fot the robot SRDF model corresponding to the SRDF xml file specified in the YAML config file.

Returns: A reference to const srdf_advd::Model

◆ getSrdfPath()

const std::string & XBot::XBotInterface::getSrdfPath ( ) const

getSrdfPath Getter for the path to the SRDF model

Returns: a reference to std::string

◆ getSrdfString()

const std::string & XBot::XBotInterface::getSrdfString ( ) const

Returns the robot SRDF xml as a string.

The SRDF file is specified inside the YAML config file.

Returns: A const reference to the required string.

◆ getStiffness() [1/3]

bool XBot::XBotInterface::getStiffness ( Eigen::VectorXd & K ) const

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 ( JointIdMap & K ) const

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 ( JointNameMap & K ) const

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 ( Eigen::VectorXd & temp ) const

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 ( JointIdMap & temp ) const

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 ( JointNameMap & temp ) const

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

◆ getUrdf()

const urdf::ModelInterface & XBot::XBotInterface::getUrdf ( ) const

Getter for the robot URDF model corresponding to the URDF xml file specified in the YAML config file.

Returns: A reference to const urdf::ModelInterface

◆ getUrdfPath()

const std::string & XBot::XBotInterface::getUrdfPath ( ) const

getUrdfPath Getter for the path to the URDF model

Returns: a reference to std::string

◆ getUrdfString()

const std::string & XBot::XBotInterface::getUrdfString ( ) const

Returns the robot URDF xml as a string.

The URDF file is specified inside the YAML config file.

Returns: A const reference to the required string.

◆ getVelocityLimits()

void XBot::XBotInterface::getVelocityLimits ( Eigen::VectorXd & qdot_max ) const

Gets a vector of the robot joint velocity limits, as specified in the URDF file.

Parameters

qdot_max The output vector of the chain joints velocity limits

Returns: void

◆ getVelocityReference() [1/3]

bool XBot::XBotInterface::getVelocityReference ( Eigen::VectorXd & qdot ) const

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 ( JointIdMap & qdot ) const

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 ( JointNameMap & qdot ) const

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

◆ hasChain()

bool XBot::XBotInterface::hasChain ( const std::string & chain_name ) const

A method for determining if a chain with name "chain_name" is defined inside the interface.

Parameters

chain_name The name of the chain whose existence has to be checked.

Returns: True if the required chain exists.

◆ hasJoint() [1/2]

bool XBot::XBotInterface::hasJoint ( const std::string & joint_name ) const

Checks that a joint with name "joint_name" is defined as an enabled joint inside the interface.

Parameters

joint_name The name of the joint we want to check existence for.

Returns: True if the required joint is defined and enabled.

◆ hasJoint() [2/2]

bool XBot::XBotInterface::hasJoint ( int joint_id ) const

Checks that a joint with ID "joint_id" is defined as an enabled joint inside the interface.

Parameters

joint_id The ID of the joint we want to check existence for.

Returns: True if the required joint is defined and enabled.

◆ init() [1/2]

bool XBot::XBotInterface::init ( const ConfigOptions & options )

◆ init() [2/2]

bool XBot::XBotInterface::init ( const std::string & path_to_cfg )

◆ init_internal()

virtual bool XBot::XBotInterface::init_internal ( const ConfigOptions & config )

inlineprotectedvirtual

Reimplemented in XBot::ModelInterface.

◆ initLog()

void XBot::XBotInterface::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.

Parameters

logger	Shared pointer to MatLogger where logging data has to be saved.
buffer_size	The number of log elements after which old data are overwritten.
interleave	Data are actually logged every interleave calls to log().
prefix	Prefix which will be preponed to all logged variables (empty by default).

◆ legs()

int XBot::XBotInterface::legs ( ) const

Returns the number of legs defined inside the interface.

This equals the number of elements of the "legs" group inside the SRDF which was provided in the YAML config file.

Returns: The number of defined legs.

◆ log()

void XBot::XBotInterface::log	(	MatLogger2::Ptr	logger,
		double	timestamp,
		const std::string &	prefix = `""`
	)		const

Logs the current robot state.

Parameters

logger	Shared pointer to MatLogger where logging data has to be saved.
timestamp	Time stamp for current robot state.
prefix	Prefix which will be preponed to all logged variables (empty by default).

Returns: void

◆ mapToEigen() [1/2]

bool XBot::XBotInterface::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.

Note that the output vector is resized and set to zero if its size does not match the number of joints. Otherwise, unspecified components are left untouched.

Parameters

map	A JointIdMap contaning the state of the robot (or a part of it)
vector	The output vector to be filled.

Returns: True if the input map contains valid joints.

◆ mapToEigen() [2/2]

bool XBot::XBotInterface::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.

Note that the output vector is resized and set to zero if its size does not match the number of joints. Otherwise, unspecified components are left untouched.

Parameters

map	A JointNameMap contaning the state of the robot (or a part of it)
vector	The output vector to be filled.

Returns: True if the input map contains valid joints.

◆ operator=()

XBot::XBotInterface & XBot::XBotInterface::operator= ( const XBotInterface & rhs )

◆ post_init()

virtual bool XBot::XBotInterface::post_init ( )

inlineprotectedvirtual

Reimplemented in XBot::RobotInterface.

◆ print()

void XBot::XBotInterface::print ( ) const

Print a pretty table about the robot state.

Returns: void

◆ printTracking()

void XBot::XBotInterface::printTracking ( ) const

Print a pretty table about the robot tracking.

Returns: void

◆ setDamping() [1/3]

bool XBot::XBotInterface::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.

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 ( const JointIdMap & D )

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 ( const JointNameMap & D )

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 ( 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.

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 ( const JointIdMap & tau )

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 ( const JointNameMap & tau )

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 ( 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.

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 ( const JointIdMap & qddot )

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 ( const JointNameMap & qddot )

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 ( 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.

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 ( const JointIdMap & tau )

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 ( const JointNameMap & tau )

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 ( 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.

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 ( const JointIdMap & q )

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 ( const JointNameMap & q )

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 ( 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.

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 ( const JointIdMap & qdot )

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 ( const JointNameMap & qdot )

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 ( 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.

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 ( const JointIdMap & q )

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 ( const JointNameMap & q )

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 ( 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.

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 ( const JointIdMap & qdot )

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 ( const JointNameMap & qdot )

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 ( 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.

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 ( const JointIdMap & q )

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 ( const JointNameMap & q )

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.

◆ setStiffness() [1/3]

bool XBot::XBotInterface::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.

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 ( const JointIdMap & K )

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 ( const JointNameMap & K )

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 ( 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.

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 ( const JointIdMap & temp )

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 ( const JointNameMap & temp )

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 ( 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.

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 ( const JointIdMap & qdot )

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 ( const JointNameMap & qdot )

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	(	const XBotInterface &	other,
		SyncFlags...	flags
	)

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.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const XBot::XBotInterface &	robot
	)

friend

Member Data Documentation

◆ _chain_map

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

protected

◆ _ft_id_map

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

protected

◆ _ft_map

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

protected

◆ _hand_id_map

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

protected

◆ _hand_map

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

protected

◆ _imu_id_map

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

protected

◆ _imu_map

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

protected

◆ _joint_id_to_eigen_id

std::map<int, int> XBot::XBotInterface::_joint_id_to_eigen_id

protected

◆ _joint_name_to_eigen_id

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

protected

◆ _joint_vector

std::vector<Joint::Ptr> XBot::XBotInterface::_joint_vector

protected

◆ _ordered_chain_names

std::vector<std::string> XBot::XBotInterface::_ordered_chain_names

protected

◆ _ordered_joint_vector

std::vector<Joint::Ptr> XBot::XBotInterface::_ordered_joint_vector

protected

◆ _XBotModel

XBotCoreModel XBot::XBotInterface::_XBotModel

protected

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ XBotInterface() [1/2]

◆ XBotInterface() [2/2]

◆ ~XBotInterface()

Member Function Documentation

◆ arms()

◆ checkEffortLimits() [1/2]

◆ checkEffortLimits() [2/2]

◆ checkJointLimits() [1/2]

◆ checkJointLimits() [2/2]

◆ checkVelocityLimits() [1/2]

◆ checkVelocityLimits() [2/2]

◆ eigenToMap() [1/2]

◆ eigenToMap() [2/2]

◆ enforceEffortLimit()

◆ enforceJointLimits() [1/3]

◆ enforceJointLimits() [2/3]

◆ enforceJointLimits() [3/3]

◆ enforceVelocityLimit()

◆ getChainMap()

◆ getChainNames()

◆ getConfigOptions()

◆ getDamping() [1/3]

◆ getDamping() [2/3]

◆ getDamping() [3/3]

◆ getDofIndex() [1/3]

◆ getDofIndex() [2/3]

◆ getDofIndex() [3/3]

◆ getEffortLimits()

◆ getEffortReference() [1/3]

◆ getEffortReference() [2/3]

◆ getEffortReference() [3/3]

◆ getEnabledJointId()

◆ getEnabledJointNames()

◆ getForceTorque() [1/3]

◆ getForceTorque() [2/3]

◆ getForceTorque() [3/3]

◆ getForceTorqueInternal()

◆ getHand() [1/2]

◆ getHand() [2/2]

◆ getImu() [1/3]

◆ getImu() [2/3]

◆ getImu() [3/3]

◆ getImuInternal()

◆ getJointAcceleration() [1/3]

◆ getJointAcceleration() [2/3]

◆ getJointAcceleration() [3/3]

◆ getJointByDofIndex()

◆ getJointByDofIndexInternal()

◆ getJointByID()

◆ getJointByIdInternal()

◆ getJointByName()

◆ getJointByNameInternal()

◆ getJointEffort() [1/3]

◆ getJointEffort() [2/3]

◆ getJointEffort() [3/3]

◆ getJointLimits()

◆ getJointNum()

◆ getJointPosition() [1/3]

◆ getJointPosition() [2/3]

◆ getJointPosition() [3/3]

◆ getJointVelocity() [1/3]

◆ getJointVelocity() [2/3]

◆ getJointVelocity() [3/3]

◆ getModelOrderedChainName()

◆ getMotorPosition() [1/3]

◆ getMotorPosition() [2/3]

◆ getMotorPosition() [3/3]

◆ getMotorVelocity() [1/3]

◆ getMotorVelocity() [2/3]

◆ getMotorVelocity() [3/3]

◆ getPathToConfig()