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