12 #ifndef _SOT_LOADER_HH_ 13 #define _SOT_LOADER_HH_ 19 #include <dynamic-graph/python/interpreter.hh> 94 inline void startDG() { dynamic_graph_stopped_ =
false; }
97 inline void stopDG() { dynamic_graph_stopped_ =
true; }
101 sot_dynamic_library_filename_ = afilename;
106 std::string &out, std::string &err);
110 embeded_python_interpreter_.runPythonFile(ifilename, err);
115 embeded_python_interpreter_.runPythonFile(ifilename);
120 void oneIteration(std::map<std::string, SensorValues> &sensors_in,
121 std::map<std::string, ControlValues> &control_values);
void * sot_dynamic_library_
Handle on the SoT library.
Definition: sot-loader.hh:60
void loadDeviceInPython(const std::string &device_name)
Load the Device entity in the python global scope.
bool initialization()
Prepare the SoT framework.
This class is loading the control part of the Stack-Of-Tasks.
Definition: sot-loader.hh:47
void startDG()
Get Status of dg.
Definition: sot-loader.hh:94
bool isDynamicGraphStopped()
Get Status of dg.
Definition: sot-loader.hh:91
~SotLoader()
Default destructor.
std::map< std::string, ControlValues > control_values_
Map of control values.
Definition: sot-loader.hh:69
std::string device_name_
Device entity created and loaded, so we deregister it as the Pool is not responsible for it's life ti...
Definition: sot-loader.hh:73
void cleanUp()
Unload the library which handles the robot device.
void stopDG()
Get Status of dg.
Definition: sot-loader.hh:97
SotLoader()
Default constructor.
python::Interpreter embeded_python_interpreter_
Embeded python interpreter.
Definition: sot-loader.hh:63
AbstractSotExternalInterface * sot_external_interface_
The interface between the device and the robot driver.
Definition: sot-loader.hh:53
void runPythonFile(std::string ifilename)
Run a python script inside the embeded python interpreter.
Definition: sot-loader.hh:114
std::map< std::string, SensorValues > sensors_in_
Map of sensor readings.
Definition: sot-loader.hh:66
void runPythonCommand(const std::string &command, std::string &result, std::string &out, std::string &err)
Run a python command inside the embeded python interpreter.
Definition: abstract-sot-external-interface.hh:40
std::string sot_dynamic_library_filename_
Name of the dynamic library containing the dgs::AbstractSotExternalInterface object.
Definition: sot-loader.hh:57
void setDynamicLibraryName(std::string &afilename)
Specify the name of the dynamic library.
Definition: sot-loader.hh:100
Definition: abstract-sot-external-interface.hh:17
int parseOptions(int argc, char *argv[])
Read user input to extract the path of the SoT dynamic library.
bool dynamic_graph_stopped_
Check if the dynamic graph is running or not.
Definition: sot-loader.hh:50
void oneIteration(std::map< std::string, SensorValues > &sensors_in, std::map< std::string, ControlValues > &control_values)
Compute one iteration of control. Basically executes fillSensors, the SoT and the readControl...
void runPythonFile(std::string ifilename, std::string &err)
Run a python script inside the embeded python interpreter.
Definition: sot-loader.hh:109