Class o80::ControllersManager¶
-
template<int NB_ACTUATORS, int QUEUE_SIZE, class STATE>
class ControllersManager¶ Public Types
-
typedef std::array<Controller<STATE>, NB_ACTUATORS> Controllers¶
-
typedef time_series::MultiprocessTimeSeries<int> CompletedCommandsTimeSeries¶
Public Functions
-
ControllersManager(std::string segment_id, double period_us)¶
-
void process_commands(long int current_iteration)¶
-
STATE get_desired_state(int dof, long int current_iteration, const TimePoint &time_now, const STATE ¤t_state)¶
-
int get_current_command_id(int dof) const¶
-
void get_newly_executed_commands(std::queue<int> &get)¶
-
bool reapplied_desired_states() const¶
-
CommandsTimeSeries &get_commands_time_series()¶
-
CompletedCommandsTimeSeries &get_completed_commands_time_series()¶
-
void purge()¶
Private Functions
-
void _print(CommandsTimeSeries *time_series)¶
Private Members
-
std::string segment_id_¶
-
CommandsTimeSeries commands_¶
-
long int pulse_id_¶
-
time_series::Index commands_index_¶
-
CompletedCommandsTimeSeries completed_commands_¶
-
Controllers controllers_¶
-
States<NB_ACTUATORS, STATE> previous_desired_states_¶
-
std::array<bool, NB_ACTUATORS> initialized_¶
-
long int relative_iteration_¶
-
CompletedCommandsTimeSeries received_commands_¶
-
CompletedCommandsTimeSeries starting_commands_¶
-
typedef std::array<Controller<STATE>, NB_ACTUATORS> Controllers¶