chrono::robosimian::RS_Driver Class Reference
Description
Driver for the RoboSimian robot.
#include <RoboSimian.h>
Classes | |
| class | PhaseChangeCallback |
| Class to be used as callback interface for user-defined actions at phase changes. More... | |
Public Types | |
| enum | Phase { POSE , HOLD , START , CYCLE , STOP } |
| Driving phases. | |
Public Member Functions | |
| RS_Driver (const std::string &filename_start, const std::string &filename_cycle, const std::string &filename_stop, bool repeat=false) | |
| void | SetTimeOffsets (double time_pose, double time_hold) |
| Specify time intervals to assume and then hold the initial pose. | |
| Actuation | GetActuation () |
| Return the current limb motor actuations. | |
| void | SetActuation (Actuation ext_act) |
| Directly feed actuations to the motors. | |
| void | SetDrivingMode (bool drivemode) |
| Set the driving mode to accept external inputs. | |
| void | UseTorqueMotors (bool use_tm) |
| Set the motor type (setpoint/torque). | |
| std::string | GetCurrentPhase () const |
| Return the current phase. | |
| void | RegisterPhaseChangeCallback (PhaseChangeCallback *callback) |
| Register a phase-change callback object. | |
Friends | |
| class | RoboSimian |
Constructor & Destructor Documentation
◆ RS_Driver()
| chrono::robosimian::RS_Driver::RS_Driver | ( | const std::string & | filename_start, |
| const std::string & | filename_cycle, | ||
| const std::string & | filename_stop, | ||
| bool | repeat = false ) |
- Parameters
-
filename_start name of file with joint actuations for start phase filename_cycle name of file with joint actuations for cycle phase filename_stop name of file with joint actuations for stop phase repeat true if cycle phase is looped
The documentation for this class was generated from the following files:
- C:/M/B/src/chrono-9.0.1/src/chrono_models/robot/robosimian/RoboSimian.h
- C:/M/B/src/chrono-9.0.1/src/chrono_models/robot/robosimian/RoboSimian.cpp