Example implementation of the Robot class, representing an X2 Exoskeleton, using DummyActuatedJoint and DummyTrajectoryGenerator. More...

#include <ExoRobot.h>

Inheritance diagram for ExoRobot:

Collaboration diagram for ExoRobot:

Public Member Functions
	ExoRobot (TrajectoryGenerator *tj)
	Default `ExoRobot` constructor. Initialize memory for the Exoskelton `Joint` + sensors. Load in exoskeleton paramaters to `TrajectoryGenerator.`. More...

	~ExoRobot ()

bool	initPositionControl ()
	Initialises all joints to position control mode. More...

bool	moveThroughTraj ()
	For each joint, move through(send appropriate commands to joints) the Currently generated trajectory of the TrajectoryGenerator object. More...

void	startNewTraj ()
	Begin a new trajectory with the currently loaded trajectory paramaters. Using the `ExoRobot` current configuration (read in from joint objects) and the trajecotry generator object, generate and save a spline to move from current to desired position. More...

bool	isTrajFinished ()

bool	initialiseJoints ()
	Implementation of Pure Virtual function from `Robot` Base class. Create designed `Joint` and `Driver` objects and load into Robot joint vector. More...

bool	initialiseNetwork ()
	Implementation of Pure Virtual function from `Robot` Base class. Initialize each `Drive` Objects underlying CANOpen Networking. More...

bool	initialiseInputs ()
	Implementation of Pure Virtual function from `Robot` Base class. Initialize each `Input` Object. More...

void	freeMemory ()
	Free robot objects vector pointer memory. More...

void	updateRobot ()
	update current state of the robot, including input and output devices. Overloaded Method from the Robot Class. Example. for a keyboard input this would poll the keyboard for any button presses at this moment in time. More...

Public Member Functions inherited from Robot
	Robot (TrajectoryGenerator *tj)
	Default `Robot` constructor. More...

	~Robot ()

bool	initialise ()
	Initialize memory for the designed `Robot` classes specific `Joint` objects + sensors (if available) using the pure virtual initialiseJoints() implemented by the robot designer. Based on the given Joints, initNetwork() will configure these joints for CAN PDO messaging and Load the specififed Controller, by default set to Positio. More...

void	printStatus ()
	print out status of robot and all of its joints More...

void	getJointStatus (int J_i)
	print out status of `Joint J_i` More...

void	initialiseLog ()
	Initialises Logging to specified file. More...

void	logDataPoint (std::string data)
	Log input data point to currently open log file. More...

bool	closeLog ()
	Save and close any currently open logging files. More...

Public Attributes
Keyboard	keyboard

vector< CopleyDrive * >	copleyDrives

struct timeval tv tv_diff moving_tv tv_changed stationary_tv start_traj	last_tv
	Timer Variables for moving through trajectories. More...

std::map< int, double >	jointMinMap
	Joint Limit Map between Joint value and min Degrees possible. More...

std::map< int, double >	jointMaxMap
	Joint Limit Map between Joint value and max Degrees possible. More...

Private Attributes
double	currTrajProgress = 0

timespec	prevTime

motorProfile	posControlMotorProfile {4000000, 240000, 240000}
	motor drive position control profile paramaters More...

Additional Inherited Members
Protected Attributes inherited from Robot
vector< Joint * >	joints
	Vector of pointers to Abstract <class>Joint<class> Objects, number and type must be specified by Software design in <class>Robot<class> Implementation. Note: Use pointers to the joint objects here, so that the derived objects are not cast to Joint, truncating any of their explicit implementations. More...

vector< InputDevice * >	inputs

TrajectoryGenerator *	trajectoryGenerator
	Trajectory Generator. More...

Detailed Description

Example implementation of the Robot class, representing an X2 Exoskeleton, using DummyActuatedJoint and DummyTrajectoryGenerator.

The ExoRobot class represents an ExoSkeleton Robot in terms of its representation of the Alex exoskeleton hardware whose memory is managed in this class.

Version 0.1 Date: 07/04/2020

Definition at line 27 of file ExoRobot.h.

Constructor & Destructor Documentation

ExoRobot::ExoRobot ( TrajectoryGenerator * tj )

Default ExoRobot constructor. Initialize memory for the Exoskelton Joint + sensors. Load in exoskeleton paramaters to TrajectoryGenerator..

Definition at line 5 of file ExoRobot.cpp.

ExoRobot::~ExoRobot ( )

Definition at line 8 of file ExoRobot.cpp.

Member Function Documentation

void ExoRobot::freeMemory ( )

Free robot objects vector pointer memory.

Definition at line 104 of file ExoRobot.cpp.

bool ExoRobot::initialiseInputs ( )

virtual

Implementation of Pure Virtual function from Robot Base class. Initialize each Input Object.

Implements Robot.

Definition at line 100 of file ExoRobot.cpp.

bool ExoRobot::initialiseJoints ( )

virtual

Implementation of Pure Virtual function from Robot Base class. Create designed Joint and Driver objects and load into Robot joint vector.

Implements Robot.

Definition at line 80 of file ExoRobot.cpp.

bool ExoRobot::initialiseNetwork ( )

virtual

Implementation of Pure Virtual function from Robot Base class. Initialize each Drive Objects underlying CANOpen Networking.

Implements Robot.

Definition at line 88 of file ExoRobot.cpp.

bool ExoRobot::initPositionControl ( )

Initialises all joints to position control mode.

Returns: true If all joints are successfully configured; false If some or all joints fail the configuration

Definition at line 16 of file ExoRobot.cpp.

bool ExoRobot::isTrajFinished ( )

Determine if the currently generated trajectory is complete.

Returns: bool

bool ExoRobot::moveThroughTraj ( )

For each joint, move through(send appropriate commands to joints) the Currently generated trajectory of the TrajectoryGenerator object.

Definition at line 45 of file ExoRobot.cpp.

void ExoRobot::startNewTraj ( )

Begin a new trajectory with the currently loaded trajectory paramaters. Using the ExoRobot current configuration (read in from joint objects) and the trajecotry generator object, generate and save a spline to move from current to desired position.

Definition at line 37 of file ExoRobot.cpp.

void ExoRobot::updateRobot ( )

virtual

update current state of the robot, including input and output devices. Overloaded Method from the Robot Class. Example. for a keyboard input this would poll the keyboard for any button presses at this moment in time.

Reimplemented from Robot.

Definition at line 115 of file ExoRobot.cpp.

Member Data Documentation

vector<CopleyDrive *> ExoRobot::copleyDrives

Definition at line 49 of file ExoRobot.h.

double ExoRobot::currTrajProgress = 0

private

Parameters associated with Trajectory Progression

Definition at line 32 of file ExoRobot.h.

std::map<int, double> ExoRobot::jointMaxMap

Initial value:

= {{LEFT_HIP, (HIP_MOTOR_POS1 * 1.5)},
                                         {RIGHT_HIP, (HIP_MOTOR_POS1 * 1.5)},
                                         {LEFT_KNEE, (KNEE_MOTOR_POS1 * 1.5)},
                                         {RIGHT_KNEE, (KNEE_MOTOR_POS1 * 1.5)},
                                         {LEFT_ANKLE, -800000},
                                         {RIGHT_ANKLE, -800000}}

Joint Limit Map between Joint value and max Degrees possible.

Parameters

int	Joint value

Returns: int maxDeg

Definition at line 134 of file ExoRobot.h.

std::map<int, double> ExoRobot::jointMinMap

Initial value:

= {{LEFT_HIP, 0.0},
                       {RIGHT_HIP, 0.0},
                       {LEFT_KNEE, 0.0},
                       {RIGHT_KNEE, 0.0},
                       {LEFT_ANKLE, -800000},
                       {RIGHT_ANKLE, -800000}}

Joint Limit Map between Joint value and min Degrees possible.

Parameters

int	Joint value

Returns: double minDeg

Definition at line 123 of file ExoRobot.h.

Keyboard ExoRobot::keyboard

Definition at line 48 of file ExoRobot.h.

struct timeval tv tv_diff moving_tv tv_changed stationary_tv start_traj ExoRobot::last_tv

Timer Variables for moving through trajectories.

Definition at line 55 of file ExoRobot.h.

motorProfile ExoRobot::posControlMotorProfile {4000000, 240000, 240000}

private

motor drive position control profile paramaters

Definition at line 38 of file ExoRobot.h.

timespec ExoRobot::prevTime

private

Definition at line 33 of file ExoRobot.h.

The documentation for this class was generated from the following files:

Refactor/src/apps/ExoRobot.h
Refactor/src/apps/ExoRobot.cpp

Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation