shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper Class Reference

This program remaps the force information contained in /joint_states coming from the hand to the /cybergraspforces topic used to control the cybergrasp. More...

#include <shadowhand_to_cybergrasp_remapper.h>

List of all members.

Public Member Functions

 ShadowhandToCybergraspRemapper ()
 ~ShadowhandToCybergraspRemapper ()

Private Member Functions

void jointstatesCallback (const sensor_msgs::JointStateConstPtr &msg)

Private Attributes

CalibrationParsercalibration_parser
 the calibration parser containing the mapping matrix
NodeHandle n_tilde
NodeHandle node
 ROS node handles.
Publisher shadowhand_cybergrasp_pub
 publish to the cybergrasp /cybergraspforces topic
Subscriber shadowhand_jointstates_sub
 subscribe to the shadowhand sendupdate topic

Detailed Description

This program remaps the force information contained in /joint_states coming from the hand to the /cybergraspforces topic used to control the cybergrasp.

Definition at line 48 of file shadowhand_to_cybergrasp_remapper.h.


Constructor & Destructor Documentation

shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper::ShadowhandToCybergraspRemapper (  ) 

Init the publisher / subscriber, the joint names, read the calibratin matrix

Definition at line 45 of file shadowhand_to_cybergrasp_remapper.cpp.

shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper::~ShadowhandToCybergraspRemapper (  ) 

Definition at line 75 of file shadowhand_to_cybergrasp_remapper.cpp.


Member Function Documentation

void shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper::jointstatesCallback ( const sensor_msgs::JointStateConstPtr &  msg  )  [private]

process the joint_states callback: receives the message from the shadowhand node, remap it to the Cybergrasp and publish this message on a given topic

Parameters:
msg the joint_states message

process the joint_states callback: get the force data from the finger tips and stream it to the cybergrasp

Parameters:
msg the joint_states message

Definition at line 87 of file shadowhand_to_cybergrasp_remapper.cpp.


Member Data Documentation

the calibration parser containing the mapping matrix

Definition at line 66 of file shadowhand_to_cybergrasp_remapper.h.

Definition at line 59 of file shadowhand_to_cybergrasp_remapper.h.

ROS node handles.

Definition at line 59 of file shadowhand_to_cybergrasp_remapper.h.

publish to the cybergrasp /cybergraspforces topic

Definition at line 64 of file shadowhand_to_cybergrasp_remapper.h.

subscribe to the shadowhand sendupdate topic

Definition at line 62 of file shadowhand_to_cybergrasp_remapper.h.


The documentation for this class was generated from the following files:
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sr_remappers
Author(s): Ugo Cupcic
autogenerated on Fri Jan 11 10:03:50 2013