haptix_sim.h File Reference

Structures and functions for simulation specific functionality. More...

#include "haptix/comm/haptix.h"

Include dependency graph for haptix_sim.h:

Go to the source code of this file.

Data Structures
struct	hxsBody
	Information about bodies. More...
struct	hxsContact
	Information about contacts. More...
struct	hxsDeviceInfo
	Simulated device information, beyond the information provided in hxDeviceInfo. More...
struct	hxsJoint
	Information about joints. More...

Macros
#define	hxsMAXBODY   30
	Maximum number of bodies. More...
#define	hxsMAXCONTACT   30
	Maximum number of contacts. More...

Functions
hxResult	hxs_getbody (int _target, hxsBody *_body)
	Get information about bodies. More...
hxResult	hxs_getcontact (int _target, hxsContact *_contact)
	Get information about active contacts. More...
hxResult	hxs_getdeviceinfo (int _target, hxsDeviceInfo *_deviceinfo)
	Get simulation information. More...
hxResult	hxs_getjacobian (int _target, int _link, const float *_point, float *_jacobian)
	Get Jacobian of global point attached to robot link (index between 1 and njoint-1) size of Jacobian matrix is 3-by-njoint, in row-major format. More...
hxResult	hxs_getjoint (int _target, hxsJoint *_joint)
	Get information about joints. More...
hxResult	hxs_message (const char *_message)
	Display a text message in the simulator. More...
hxResult	hxs_setstate (int _target, const hxsBody *_body, const hxsJoint *_joint)
	Set simulation state (position and velocity) as follows: the robot base and objects are set from hxBody. More...
hxResult	hxs_updatedirect (int _target, const float *_torque, hxSensor *_sensor, int _flg_sleep)
	Synchronous update with direct torque control: More...

Detailed Description

Structures and functions for simulation specific functionality.

This header is not needed for use with Gazebo but added for code compatibility with other simulators.

Macro Definition Documentation

#define hxsMAXBODY   30

Maximum number of bodies.

#define hxsMAXCONTACT   30

Maximum number of contacts.

Function Documentation

hxResult hxs_getbody	(	int	_target,
		hxsBody *	_body
	)

Get information about bodies.

Parameters

[in]	_target	Requested device.
[out]	_body	Body information requested.

Returns

'hxOK' if the operation succeed or an error code otherwise.

hxResult hxs_getcontact	(	int	_target,
		hxsContact *	_contact
	)

Get information about active contacts.

Parameters

[in]	_target	Requested device.
[out]	_contact	Contact information requested.

Returns

'hxOK' if the operation succeed or an error code otherwise.

hxResult hxs_getdeviceinfo	(	int	_target,
		hxsDeviceInfo *	_deviceinfo
	)

Get simulation information.

Parameters

[in]	_target	Requested device.
[out]	_deviceinfo	Device information requested.

Returns

'hxOK' if the disconnection succeed or an error code otherwise.

hxResult hxs_getjacobian	(	int	_target,
		int	_link,
		const float *	_point,
		float *	_jacobian
	)

Get Jacobian of global point attached to robot link (index between 1 and njoint-1) size of Jacobian matrix is 3-by-njoint, in row-major format.

Parameters

[in]	_target	Requested device.
[in]	_link	Requested link index.
[in]	_point	Point information requested.
[out]	_jacobian	Jacobian information requested.

Returns

'hxOK' if the operation succeed or an error code otherwise.

hxResult hxs_getjoint	(	int	_target,
		hxsJoint *	_joint
	)

Get information about joints.

Parameters

[in]	_target	Requested device.
[out]	_joint	Joint information requested.

Returns

'hxOK' if the operation succeed or an error code otherwise.

hxResult hxs_message

(

const char *

_message

)

Display a text message in the simulator.

Parameters

[in]

_message

Message to display.

Returns

'hxOK' if the operation succeeded or an error code otherwise.

hxResult hxs_setstate	(	int	_target,
		const hxsBody *	_body,
		const hxsJoint *	_joint
	)

Set simulation state (position and velocity) as follows: the robot base and objects are set from hxBody.

the robot links are set from hxJoint via forward kinematics. the robot link data in hxBody, and all acceleration and torque data are ignored.

Parameters

[in]	_target	Requested device.
[in]	_body	New body value.
[in]	_joint	New joint value.

Returns

'hxOK' if the operation succeed or an error code otherwise.

hxResult hxs_updatedirect	(	int	_target,
		const float *	_torque,
		hxSensor *	_sensor,
		int	_flg_sleep
	)

Synchronous update with direct torque control:

1. set joint torques ignoring actuator model.
2. advance simulation state, sleep for remainder of update step only if requested.
3. return simulated sensor data.

   Parameters

   [in]	_target	Requested device.
   [in]	_torque	New torque value.
   [out]	_sensor	Sensor data received after the update.
   [in]	_flg_sleep	Advance simulation step this time.

   Returns

   'hxOK' if the operation succeed or an error code otherwise.