vulp::actuation Namespace Reference

Send actions to actuators or simulators. More...

Namespaces
	default_action

Classes
struct	BulletContactData
	Contact information for a single link. More...
struct	BulletImuData
class	BulletInterface
	Actuation interface for the Bullet simulator. More...
struct	BulletJointProperties
	Properties for robot joints in the Bullet simulation. More...
struct	ImuData
	Data filtered from an onboard IMU such as the pi3hat's. More...
class	Interface
	Base class for actuation interfaces. More...
class	MockInterface
class	Pi3HatInterface
	Interface to moteus controllers. More...
class	ServoLayout
	Map between servos, their busses and the joints they actuate. More...

Typedefs
using	Pi3Hat = ::mjbots::pi3hat::Pi3Hat

Functions
btQuaternion	bullet_from_eigen (const Eigen::Quaterniond &quat)
	Convert an Eigen quaternion to a Bullet one. More...
btVector3	bullet_from_eigen (const Eigen::Vector3d &v)
	Convert an Eigen vector to a Bullet one. More...
Eigen::Quaterniond	eigen_from_bullet (const btQuaternion &quat)
	Convert a Bullet quaternion to an Eigen one. More...
Eigen::Vector3d	eigen_from_bullet (const btVector3 &v)
	Convert a Bullet vector to an Eigen one. More...
int	find_link_index (b3RobotSimulatorClientAPI &bullet, int robot, const std::string &link_name) noexcept
	Find the index of a link. More...
void	read_imu_data (BulletImuData &imu_data, b3RobotSimulatorClientAPI &bullet, int robot, const int imu_link_index, double dt)
	Compute IMU readings from the IMU link state. More...
std::string	find_plane_urdf (const std::string argv0)
actuation::moteus::QueryCommand	get_query_resolution ()
	Query resolution settings for all servo commands. More...
actuation::moteus::PositionResolution	get_position_resolution ()
	Resolution settings for all servo commands. More...

Detailed Description

Send actions to actuators or simulators.

Typedef Documentation

Pi3Hat

using vulp::actuation::Pi3Hat = typedef ::mjbots::pi3hat::Pi3Hat

Definition at line 36 of file Pi3HatInterface.h.

Function Documentation

bullet_from_eigen() [1/2]

btQuaternion vulp::actuation::bullet_from_eigen ( const Eigen::Quaterniond &  quat )

inline

Convert an Eigen quaternion to a Bullet one.

Parameters

[in]

quat

Eigen quaternion.

Returns

Same quaternion for Bullet.

Definition at line 21 of file bullet_utils.h.

bullet_from_eigen() [2/2]

btVector3 vulp::actuation::bullet_from_eigen ( const Eigen::Vector3d &  v )

inline

Convert an Eigen vector to a Bullet one.

Parameters

[in]

v

Eigen vector.

Returns

Same vector for Bullet.

Definition at line 31 of file bullet_utils.h.

eigen_from_bullet() [1/2]

Eigen::Quaterniond vulp::actuation::eigen_from_bullet ( const btQuaternion &  quat )

inline

Convert a Bullet quaternion to an Eigen one.

Parameters

[in]

quat

Bullet quaternion.

Returns

Same vector for Eigen.

Definition at line 41 of file bullet_utils.h.

eigen_from_bullet() [2/2]

Eigen::Vector3d vulp::actuation::eigen_from_bullet ( const btVector3 &  v )

inline

Convert a Bullet vector to an Eigen one.

Parameters

[in]

quat

Bullet vector.

Returns

Same vector for Eigen.

Definition at line 51 of file bullet_utils.h.

find_link_index()

int vulp::actuation::find_link_index ( b3RobotSimulatorClientAPI &  bullet, int  robot, const std::string &  link_name  )

inlinenoexcept

Find the index of a link.

Parameters

[in]	bullet	Bullet client.
[in]	robot	Index of the robot to search.
[in]	link_name	Name of the searched link.

Returns

Link index if found, -1 otherwise.

Definition at line 63 of file bullet_utils.h.

find_plane_urdf()

std::string vulp::actuation::find_plane_urdf

(

const std::string

argv0

)

Definition at line 17 of file BulletInterface.cpp.

get_position_resolution()

actuation::moteus::PositionResolution vulp::actuation::get_position_resolution ( )

inline

Resolution settings for all servo commands.

Returns

Resolution settings.

For now these settings are common to all interfaces but we can easily turn them into parameters.

Definition at line 41 of file resolution.h.

get_query_resolution()

actuation::moteus::QueryCommand vulp::actuation::get_query_resolution ( )

inline

Query resolution settings for all servo commands.

Returns

Query resolution settings.

For now these settings are common to all interfaces but we can easily turn them into parameters.

Definition at line 18 of file resolution.h.

read_imu_data()

void vulp::actuation::read_imu_data ( BulletImuData &  imu_data, b3RobotSimulatorClientAPI &  bullet, int  robot, const int  imu_link_index, double  dt  )

inline

Compute IMU readings from the IMU link state.

Parameters

[out]	imu_data	IMU data to update.
[in]	bullet	Bullet client.
[in]	robot	Bullet index of the robot model.
[in]	imu_link_index	Index of the IMU link in the robot.
[in]	dt	Simulation timestep in [s].

Definition at line 84 of file bullet_utils.h.