- Generated by
1.9.5
|
upkie 9.0.0
Open-source wheeled biped robots
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Actuation interface for the Bullet simulator. More...
#include <BulletInterface.h>
Classes | |
| struct | Parameters |
| Interface parameters. More... | |
Public Member Functions | |
| BulletInterface (const Parameters ¶ms) | |
| Initialize interface. More... | |
| ~BulletInterface () | |
| Disconnect interface. | |
| void | reset (const Dictionary &config) override |
| Reset interface. More... | |
| void | observe (Dictionary &observation) const override |
| Write actuation-interface observations to dictionary. More... | |
| void | process_action (const Dictionary &action) override |
| Process a new action dictionary. More... | |
| void | process_forces (const Dictionary &external_forces) |
| Process a dictionary of additional external forces. More... | |
| void | cycle (std::function< void(const moteus::Output &)> callback) final |
| Spin a new communication cycle. More... | |
| Eigen::Matrix4d | get_transform_base_to_world () const noexcept |
| Get the groundtruth floating base transform. | |
| Eigen::Matrix4d | get_transform_body_to_world (int body_id) const noexcept |
| Get a groundtruth body transform. More... | |
| Eigen::Vector3d | get_linear_velocity_base_to_world_in_world () const noexcept |
| Get the groundtruth floating base linear velocity. More... | |
| Eigen::Vector3d | get_angular_velocity_base_in_base () const noexcept |
| Get the groundtruth floating base angular velocity. More... | |
| Eigen::VectorXd | get_joint_angles () noexcept |
| Get the groundtruth vector of joint angles. More... | |
| void | reset_contact_data () |
| Reset contact data. | |
| void | reset_joint_angles (const Eigen::VectorXd &joint_configuration) |
| Reset joint angles. More... | |
| void | reset_joint_properties () |
| Reset joint properties to defaults. | |
| void | reset_base_state (const Eigen::Vector3d &position_base_in_world, const Eigen::Quaterniond &orientation_base_in_world, const Eigen::Vector3d &linear_velocity_base_to_world_in_world, const Eigen::Vector3d &angular_velocity_base_in_base) |
| Reset the pose and velocity of the floating base in the world frame. More... | |
| const std::map< std::string, bullet::JointProperties > & | joint_properties () |
| Joint properties (getter used for testing) | |
| const std::map< std::string, moteus::ServoReply > & | servo_reply () |
| Internal map of servo replies (getter used for testing) | |
| double | compute_joint_torque (const std::string &joint_name, const double feedforward_torque, const double target_position, const double target_velocity, const double kp_scale, const double kd_scale, const double maximum_torque) |
| Reproduce the moteus position controller in Bullet. More... | |
| double | compute_robot_mass () |
| Compute total robot mass in kg. | |
| Eigen::Vector3d | compute_position_com_in_world () |
| Compute the position of the center of mass in the world frame. | |
| Eigen::Vector3d | get_position_link_in_world (const std::string &link_name) |
| Compute the position of a link frame in the world frame. More... | |
| void | save_nominal_masses () |
| Get nominal masses of the robot links. | |
| void | randomize_masses () |
| Randomize masses of the robot links. | |
| const ServoLayout & | servo_layout () const noexcept |
| Get servo layout. | |
| const std::map< int, int > & | servo_bus_map () const noexcept |
| Map from servo ID to the CAN bus the servo is connected to. | |
| const std::map< int, std::string > & | servo_name_map () const noexcept |
| Map from servo ID to joint name. | |
| std::vector< moteus::ServoCommand > & | commands () |
| Get servo commands. | |
| const std::vector< moteus::ServoReply > & | replies () const |
| Get servo replies. | |
| moteus::Data & | data () |
| Get joint command-reply data. More... | |
| void | reset_action (Dictionary &action) |
| Reset action dictionary to the default action. More... | |
| void | write_position_commands (const Dictionary &action) |
| Write position commands from an action dictionary. More... | |
| void | write_stop_commands () noexcept |
| Stop all servos. More... | |
| void | observe_imu (Dictionary &observation) const |
| Observe IMU measurements. More... | |
Protected Attributes | |
| moteus::Data | data_ |
| Pointers to the memory shared with the CAN thread. More... | |
| ImuData | imu_data_ |
| IMU data. | |
Actuation interface for the Bullet simulator.
1.9.5