interactive_requirements.txt

_robInteractive Requirements

XBotInterface& r = *XBotInterfacePtr::getRobot(path_to_cfg);
DynamicModel& m = *r.getModel("RBDL"); //default 2 arg :  non sync, lib type from cfg

r.sense() // Updates all kinematic chains with data from /joint_states, IMUs, FTs, ...
m.sync(r) // Align model with actual robot

Eigen::Affine3d m.getTransform(r.floatingBaseName(), r.leg(0).tipLinkName()); // ros tf abstraction, notice that each kinematic chains has a getter for link names/joint names/etc (this is useful for specifying frame names from their semantics (I want to avoid hard-coded names!)

for(int i = 0; i<r.legs(); i++){
 Eigen::VectorXd q_leg;
 r.leg(i).getJointPosition(q_leg);
 r.leg(i).setJointPositionReference(q_leg*2); // command twice the current position to quickly   break the robot
}

r.write();// Send ref to low level controller

Eigen::VectorXd q = m.q(), q_dot; // get model joint positions
// Do some computations....
m.q() += q_dot*deltaT; // Add a vector to model configuration
r.setPosition(m) // Set a reference joint position to the whole actual robot from the model
r.write(); // Send it to low level controller

Eigen::Vector6d wrench;
r.ft.leg(0).getWrench(wrench); // Access FT sensor from its semantics, get measured wrench
r.ft("ft_leg_1").getWrench(wrench); // Access by name (hard-coded names :( )