scenario::monopod C++ API¶

scenario::monopod::World¶

class scenario::monopod::World : public World, public std::enable_shared_from_this<scenario::monopod::World>¶

Public Functions

bool initialize(const monopod_drivers::Mode &mode, const bool &dummy_mode = false) const¶

Initialize can_bus connections to encoder board and motor board.

Parameters

monopod_mode – defines the task mode of the monopod. Can also specify individual boards.
dummy_mode – if false the sdk will try to connect to the canbus connection otherwise it will just create a dummy board class which fakes the real robot.

bool valid() const override¶

Check if the world is valid.

Returns: True if the world is valid, false otherwise.

std::string name() const override¶

Get the name of the world.

Returns: The name of the world.

std::vector<std::string> modelNames() const override¶

Get the name of the models that are part of the world.

Returns: The list of model names.

scenario::core::ModelPtr getModel(const std::string &modelName) const override¶

Get a model part of the world.

Parameters: modelName – The name of the model to get.
Returns: The model if it is part of the world, nullptr otherwise.

std::vector<scenario::core::ModelPtr> models(const std::vector<std::string> &modelNames = {}) const override¶

Get the models of the world.

Parameters: modelNames – Optional vector of considered models. By default, World::modelNames is used.
Returns: A vector of pointers to the model objects.

scenario::monopod::Model¶

class scenario::monopod::Model : public Model, public std::enable_shared_from_this<scenario::monopod::Model>¶

Public Types

typedef monopod_drivers::Mode Mode¶: A useful shortcut for using cpp scenario code.

Public Functions

bool initialize(const monopod_drivers::Mode &mode, const bool &dummy_mode) const¶

Initialize can_bus connections to encoder board and motor board.

Parameters

monopod_mode – defines the task mode of the monopod. Can also specify individual boards.
dummy_mode – if false the sdk will try to connect to the canbus connection otherwise it will just create a dummy board class which fakes the real robot.

void calibrate(const double &hip_home_offset_rad = 0, const double &knee_home_offset_rad = 0)¶

Calibrate the Encoders.

Parameters

hip_home_offset_rad – hip offset from found encoder index 0 (rad)
knee_home_offset_rad – knee offset from found encoder index 0 (rad)

void reset()¶: If the joint module is not valid (safemode after limit reached) the joint will be reset into a valid state. This means the joint must be set back into the valid state first otherwise it will trigger the limits again.

void print_status()¶: print status messages of robot.

bool valid() const override¶

Check if the model is valid.

Returns: True if the model is valid, false otherwise.

std::string name() const override¶

Get the name of the model.

Returns: The name of the model.

size_t dofs(const std::vector<std::string> &jointNames = {}) const override¶

Get the joints DOF

Parameters: jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Returns: The sum of serialization of joint DOFs. The sum is the number of DoFs of all the considered joints.

core::JointPtr getJoint(const std::string &jointName) const override¶

Get a joint belonging to the model.

Parameters: jointName – The name of the joint.
Throws: std::runtime_error – if the joint does not exist.
Returns: The desired joint.

std::vector<std::string> jointNames(const bool scoped = false) const override¶

Get the name of all the model’s joints.

Parameters: scoped – Scope the joint names with the model name, (e.g. mymodel::joint1).
Returns: The list of joint names.

std::vector<double> jointPositions(const std::vector<std::string> &jointNames = {}) const override¶

Get the joint positions.

Parameters: jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Returns: The serialization of joint positions. The vector has as many elements as DoFs of the considered joints.

std::vector<double> jointVelocities(const std::vector<std::string> &jointNames = {}) const override¶

Get the joint velocities.

Parameters: jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Returns: The serialization of joint velocities. The vector has as many elements as DoFs of the considered joints.

std::vector<double> jointAccelerations(const std::vector<std::string> &jointNames = {}) const override¶

Get the joint accelerations.

Parameters: jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Returns: The serialization of joint accelerations. The vector has as many elements as DoFs of the considered joints.

bool setJointControlMode(const core::JointControlMode mode, const std::vector<std::string> &jointNames = {}) override¶

Set the control mode of model joints.

Parameters

mode – The desired joint control mode.
jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns

True for success, false otherwise.

std::vector<core::JointPtr> joints(const std::vector<std::string> &jointNames = {}) const override¶

Get the joints of the model.

Parameters: jointNames – Optional vector of considered joints. By default, Model::jointNames is used.
Returns: A vector of pointers to the joint objects.

bool setJointGeneralizedForceTargets(const std::vector<double> &forces, const std::vector<std::string> &jointNames = {}) override¶

Set the generalized force targets of the joints.

Parameters

forces – The vector with the joint generalized force targets. It must have as many elements as the considered joint DoFs.
jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns

True for success, false otherwise.

std::vector<double> jointGeneralizedForceTargets(const std::vector<std::string> &jointNames = {}) const override¶

Get the generalized force targets of the joints.

Parameters: jointNames – Optional vector of considered joints. By default, Model::jointNames is used.
Returns: The generalized force targets of the joints.

scenario::monopod::Joint¶

class scenario::monopod::Joint : public Joint, public std::enable_shared_from_this<scenario::monopod::Joint>¶

Public Functions

bool valid() const override¶

Check if the joint is valid.

Returns: True if the model is valid, false otherwise.

size_t dofs() const override¶

Get the number of degrees of freedom of the joint.

Returns: The number of DOFs of the joint.

std::string name(const bool scoped = false) const override¶

Get the name of the joint.

Parameters: scoped – If true, the scoped name of the joint is returned.
Returns: The name of the joint.

core::JointType type() const override¶

Get the type of the joint.

Returns: The type of the joint.

bool setControlMode(const core::JointControlMode mode) override¶

Set the joint control mode.

Parameters: mode – The desired control mode.
Returns: True for success, false otherwise.

core::JointControlMode controlMode() const override¶

get the joint control mode.

Returns: the joint control mode

core::PID pid() const override¶

Get the PID parameters of the joint.

If no PID parameters have been set, the default parameters are returned.

Returns: The joint PID parameters.

bool setPID(const core::PID &pid) override¶

Set the PID parameters of the joint.

Parameters: pid – The desired PID parameters.
Returns: True for success, false otherwise.

std::vector<double> jointMaxGeneralizedForce() const override¶

Get the maximum generalized force that could be applied to the joint.

Returns: The maximum generalized force of the joint.

bool setJointMaxGeneralizedForce(const std::vector<double> &maxForce) override¶

Set the maximum generalized force that can be applied to the joint.

This limit can be used to clip the force applied by joint controllers.

Parameters: maxForce – A vector with the maximum generalized forces of the joint DOFs.
Returns: True for success, false otherwise.

std::vector<double> jointPosition() const override¶

Get the position of the joint.

Returns: The position of the joint.

std::vector<double> jointVelocity() const override¶

Get the velocity of the joint.

Returns: The velocity of the joint.

std::vector<double> jointAcceleration() const override¶

Get the acceleration of the joint.

Returns: The acceleration of the joint.

bool setJointGeneralizedForceTarget(const std::vector<double> &force) override¶

Set the generalized force target of the joint.

Note that if there’s friction or other loss components, the real joint force will differ.

Parameters: force – A vector with the generalized force targets of the joint DOFs.
Returns: True for success, false otherwise.

std::vector<double> jointGeneralizedForceTarget() const override¶

Get the active generalized force target.

Returns: The generalized force target of the joint.

core::JointLimit jointPositionLimit() const override¶

Get the position limits of the joint.

Returns: The position limits of the joint.

core::JointLimit jointVelocityLimit() const override¶

Get the velocity limits of the joint.

Returns: The velocity limits of the joint.

core::JointLimit jointAccelerationLimit() const¶

Get the acceleration limits of the joint.

Returns: The acceleration limits of the joint.

bool setJointPositionLimit(const double &maxPosition, const double &minPosition)¶

Set the maximum position of the joint.

This limit can be used to set safety limits on the joint position. when violated the Robot will enter into a safe mode. disabling the robot until it is reset or restart.

Parameters

maxPosition – maximum position of the joint DOFs.
minPosition – minimum position of the joint DOFs.

Returns

True for success, false otherwise.

bool setJointVelocityLimit(const double &maxVelocity, const double &minVelocity)¶

Set the maximum velocity of the joint.

This limit can be used to set safety limits on the joint velocity. when violated the Robot will enter into a safe mode. disabling the robot until it is reset or restart.

Parameters

maxVelocity – maximum velocity of the joint DOFs.
minVelocity – minimum position of the joint DOFs.

Returns

True for success, false otherwise.

bool setJointAccelerationLimit(const double &maxAcceleration, const double &minAcceleration)¶

Set the maximum acceleration of the joint.

This limit can be used to set safety limits on the joint acceleration. when violated the Robot will enter into a safe mode. disabling the robot until it is reset or restart.

Parameters

maxAcceleration – maximum acceleration of the joint DOFs.
minAcceleration – minimum acceleration of the joint DOFs.

Returns

True for success, false otherwise.