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Stack Of Tasks
sot-torque-control
Commits
cecbefd6
Commit
cecbefd6
authored
Apr 07, 2019
by
Olivier Stasse
Browse files
[debug] Fix sendMsg recursive call leading to dramatic failure.
parent
474a7931
Changes
19
Hide whitespace changes
Inline
Side-by-side
include/sot/torque_control/admittance-controller.hh
View file @
cecbefd6
...
...
@@ -108,7 +108,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/base-estimator.hh
View file @
cecbefd6
...
...
@@ -174,7 +174,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/control-manager.hh
View file @
cecbefd6
...
...
@@ -155,7 +155,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[ControlManager-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[ControlManager-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/current-controller.hh
View file @
cecbefd6
...
...
@@ -115,7 +115,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[CurrentController-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[CurrentController-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/device-torque-ctrl.hh
View file @
cecbefd6
...
...
@@ -98,7 +98,7 @@ namespace dynamicgraph
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[DeviceTorqueCtrl] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[DeviceTorqueCtrl] "
+
msg
,
t
,
file
,
line
);
}
/// \brief Current integration step.
...
...
include/sot/torque_control/filter-differentiator.hh
View file @
cecbefd6
...
...
@@ -106,7 +106,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
public:
/* --- ENTITY INHERITANCE --- */
...
...
include/sot/torque_control/free-flyer-locator.hh
View file @
cecbefd6
...
...
@@ -97,7 +97,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[FreeFlyerLocator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[FreeFlyerLocator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/imu_offset_compensation.hh
View file @
cecbefd6
...
...
@@ -84,7 +84,7 @@ namespace dynamicgraph {
void
update_offset_impl
(
int
iter
);
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[ImuOffsetCompensation-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[ImuOffsetCompensation-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/inverse-dynamics-balance-controller.hh
View file @
cecbefd6
...
...
@@ -207,7 +207,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/joint-torque-controller.hh
View file @
cecbefd6
...
...
@@ -128,7 +128,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
public:
...
...
include/sot/torque_control/joint-trajectory-generator.hh
View file @
cecbefd6
...
...
@@ -163,7 +163,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[JointTrajectoryGenerator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[JointTrajectoryGenerator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/madgwickahrs.hh
View file @
cecbefd6
...
...
@@ -97,7 +97,7 @@ namespace dynamicgraph {
//void madgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[MadgwickAHRS-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[MadgwickAHRS-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/nd-trajectory-generator.hh
View file @
cecbefd6
...
...
@@ -148,7 +148,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[NdTrajectoryGenerator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[NdTrajectoryGenerator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/numerical-difference.hh
View file @
cecbefd6
...
...
@@ -117,7 +117,7 @@ namespace dynamicgraph {
protected:
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
public:
/* --- ENTITY INHERITANCE --- */
...
...
include/sot/torque_control/position-controller.hh
View file @
cecbefd6
...
...
@@ -89,7 +89,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[PositionController-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[PositionController-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/se3-trajectory-generator.hh
View file @
cecbefd6
...
...
@@ -140,7 +140,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"[SE3TrajectoryGenerator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"[SE3TrajectoryGenerator-"
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
include/sot/torque_control/torque-offset-estimator.hh
View file @
cecbefd6
...
...
@@ -114,7 +114,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
private:
...
...
include/sot/torque_control/trace-player.hh
View file @
cecbefd6
...
...
@@ -94,7 +94,7 @@ namespace dynamicgraph {
void
sendMsg
(
const
std
::
string
&
msg
,
MsgType
t
=
MSG_TYPE_INFO
,
const
char
*
file
=
""
,
int
line
=
0
)
{
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
Entity
::
sendMsg
(
"["
+
name
+
"] "
+
msg
,
t
,
file
,
line
);
}
protected:
...
...
src/control-manager.cpp
View file @
cecbefd6
...
...
@@ -199,15 +199,15 @@ namespace dynamicgraph
std
::
string
localName
(
robotRef
);
if
(
!
isNameInRobotUtil
(
localName
))
{
m_robot_util
=
createRobotUtil
(
localName
);
std
::
cout
<<
"createRobotUtil success
"
<<
std
::
endl
;
m_robot_util
=
createRobotUtil
(
localName
);
SEND_MSG
(
"createRobotUtil success
\n
"
,
MSG_TYPE_INFO
)
;
}
else
{
m_robot_util
=
getRobotUtil
(
localName
);
std
::
cout
<<
"getRobotUtil success
"
<<
std
::
endl
;
m_robot_util
=
getRobotUtil
(
localName
);
SEND_MSG
(
"getRobotUtil success
\n
"
,
MSG_TYPE_INFO
)
;
}
std
::
cout
<<
m_robot_util
->
m_urdf_filename
<<
std
::
endl
;
SEND_MSG
(
m_robot_util
->
m_urdf_filename
,
MSG_TYPE_INFO
)
;
m_robot_util
->
m_urdf_filename
=
urdfFile
;
addCommand
(
"getJointsUrdfToSot"
,
makeDirectGetter
(
*
this
,
&
m_robot_util
->
m_dgv_urdf_to_sot
,
...
...
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