XBot Namespace Reference

Namespaces
	FSM
	Utils

Classes
class	ConfigOptions
class	ControlMode
class	Endl
	Class handling the flushing of log messages to console. More...
class	FlagsParser
class	ForceTorqueSensor
	Force - Torque sensor abstraction: More...
class	GenericSensor
	Generic sensor abstraction. More...
class	Hand
	Hand. More...
class	ImuSensor
class	IXBotModel
	TBD. More...
class	Joint
	Container for the Joint state and information. More...
class	KinematicChain
	Kinematic chain abstraction as a set of joints and sensors. More...
class	Logger
class	LoggerClass
	Logger class. More...
class	ModelChain
	Kinematic chain useful for a model abstraction. More...
class	ModelInterface
	ModelInterface is an abstraction layer for a kinematic/dynamic model of a robot. More...
class	RobotChain
	Kinematic chain useful for a robot abstraction. More...
class	RobotInterface
class	XBotCoreModel
class	XBotInterface

Typedefs
typedef std::unordered_map< int, double >	JointIdMap
	std::map with key representing the joint ID (i.e. More...
typedef std::unordered_map< std::string, double >	JointNameMap
	std::map with key representing the joint human-readable name and value representing a joint state (e.g. More...
typedef std::map< std::string, std::shared_ptr< const ForceTorqueSensor > >	ForceTorqueMap
	std::map with key representing the FT sensor human-readable name and value representing a const shared pointer to the FT itself. More...
typedef std::map< std::string, std::shared_ptr< const ImuSensor > >	ImuMap
	std::map with key representing the IMU sensor human-readable name and value representing a const shared pointer to the IMU itself. More...
typedef std::map< std::string, boost::any >	AnyMap
	std::map map with key representing a parameter name and value representing the parameter value. More...
typedef std::shared_ptr< AnyMap >	AnyMapPtr
	Shared pointer to AnyMap. More...
typedef std::shared_ptr< const AnyMap >	AnyMapConstPtr
	Shared pointer to AnyMap. More...

Enumerations
enum	Sync {   Sync::Position,   Sync::Velocity,   Sync::Effort,   Sync::Acceleration,   Sync::Impedance,   Sync::Stiffness,   Sync::Damping,   Sync::All,   Sync::Sensors,   Sync::Imu,   Sync::ForceTorque,   Sync::MotorSide }
	enum class that represents a set of flags to specify what part of the robot/model state needs to be synchronized. More...

Functions
std::ostream &	operator<< (std::ostream &os, const XBot::Joint &j)
	ostream operator << for a Joint object More...
std::ostream &	operator<< (std::ostream &os, const XBot::KinematicChain &c)
std::ostream &	bold_on (std::ostream &os)
std::ostream &	bold_off (std::ostream &os)
std::ostream &	color_green (std::ostream &os)
std::ostream &	color_red (std::ostream &os)
std::ostream &	color_yellow (std::ostream &os)
std::ostream &	color_reset (std::ostream &os)
void	parseFlags (bool &pos, bool &vel, bool &acc, bool &eff, bool &k, bool &d, bool &ft, bool &imu, bool &motor_side, Sync s=Sync::All)
template<typename... Flags>
void	parseFlags (bool &pos, bool &vel, bool &acc, bool &eff, bool &k, bool &d, bool &ft, bool &imu, bool &motor_side, Sync s, Flags... rest)
std::ostream &	operator<< (std::ostream &os, const XBot::XBotInterface &robot)
std::ostream &	operator<< (std::ostream &os, const XBot::ForceTorqueSensor &j)
std::ostream &	operator<< (std::ostream &os, const ImuSensor &j)
void	operator<< (std::ostream &os, Endl &endl)

Detailed Description

Author

Luca Muratore (2016-, luca..nosp@m.mura.nosp@m.tore@.nosp@m.iit..nosp@m.it)

Typedef Documentation

AnyMap

typedef std::map<std::string, boost::any> XBot::AnyMap

std::map map with key representing a parameter name and value representing the parameter value.

Note that thanks to the use of boost::any it can be of any type.

AnyMapConstPtr

typedef std::shared_ptr<const AnyMap> XBot::AnyMapConstPtr

Shared pointer to AnyMap.

AnyMapPtr

typedef std::shared_ptr<AnyMap> XBot::AnyMapPtr

Shared pointer to AnyMap.

ForceTorqueMap

typedef std::map<std::string, std::shared_ptr<const ForceTorqueSensor> > XBot::ForceTorqueMap

std::map with key representing the FT sensor human-readable name and value representing a const shared pointer to the FT itself.

ImuMap

typedef std::map<std::string, std::shared_ptr<const ImuSensor> > XBot::ImuMap

std::map with key representing the IMU sensor human-readable name and value representing a const shared pointer to the IMU itself.

JointIdMap

typedef std::unordered_map<int, double> XBot::JointIdMap

std::map with key representing the joint ID (i.e.

its numerical identifier; note that IDs are not required to be consecutive) and value representing a joint state (e.g. position, torque, ...)

JointNameMap

typedef std::unordered_map<std::string, double> XBot::JointNameMap

std::map with key representing the joint human-readable name and value representing a joint state (e.g.

position, torque, ...)

Enumeration Type Documentation

Sync

enum XBot::Sync

strong

enum class that represents a set of flags to specify what part of the robot/model state needs to be synchronized.

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:

• Sync::Position,
• Sync::Velocity
• Sync::Acceleration
• Sync::Effort
• Sync::Stiffness
• Sync::Damping
• Sync::Impedance
• Sync::All
• Sync::Sensors
• Sync::Imu
• Sync::ForceTorque

Enumerator
Position
Velocity
Effort
Acceleration
Impedance
Stiffness
Damping
All
Sensors
Imu
ForceTorque
MotorSide

Function Documentation

bold_off()

std::ostream & XBot::bold_off

(

std::ostream &

os

)

bold_on()

std::ostream & XBot::bold_on

(

std::ostream &

os

)

color_green()

std::ostream & XBot::color_green

(

std::ostream &

os

)

color_red()

std::ostream & XBot::color_red

(

std::ostream &

os

)

color_reset()

std::ostream & XBot::color_reset

(

std::ostream &

os

)

color_yellow()

std::ostream & XBot::color_yellow

(

std::ostream &

os

)

operator<<() [1/6]

std::ostream& XBot::operator<<	(	std::ostream &	os,
		const ImuSensor &	j
	)

operator<<() [2/6]

std::ostream& XBot::operator<<	(	std::ostream &	os,
		const XBot::ForceTorqueSensor &	j
	)

operator<<() [3/6]

std::ostream & XBot::operator<<	(	std::ostream &	os,
		const XBot::Joint &	j
	)

ostream operator << for a Joint object

Parameters

os	ostream
j	the Joint object to print using ostream

Returns

std::ostream& result ostream

operator<<() [4/6]

std::ostream & XBot::operator<<	(	std::ostream &	os,
		const XBot::KinematicChain &	c
	)

operator<<() [5/6]

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

operator<<() [6/6]

void XBot::operator<<	(	std::ostream &	os,
		Endl &	endl
	)

parseFlags() [1/2]

template<typename... Flags>

void XBot::parseFlags ( bool &  pos, bool &  vel, bool &  acc, bool &  eff, bool &  k, bool &  d, bool &  ft, bool &  imu, bool &  motor_side, Sync  s, Flags...  rest  )

inline

parseFlags() [2/2]

void XBot::parseFlags ( bool &  pos, bool &  vel, bool &  acc, bool &  eff, bool &  k, bool &  d, bool &  ft, bool &  imu, bool &  motor_side, Sync  s = Sync::All  )

inline