cob_sdh_demo.cpp File Reference

Simple script to do grasping using tactile sensor info feedback. See __help__ and online help ("-h" or "--help") for available options. More...

#include <iostream>
#include <vector>
#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <boost/thread/condition.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/scoped_ptr.hpp>
#include <boost/shared_ptr.hpp>
#include "ros/types.h"
#include "ros/time.h"
#include <boost/thread/shared_mutex.hpp>
#include <boost/thread/condition_variable.hpp>
#include <boost/thread/tss.hpp>
#include <list>
#include <deque>
#include "ros/callback_queue_interface.h"
#include <boost/thread/recursive_mutex.hpp>
#include <boost/interprocess/sync/scoped_lock.hpp>
#include <boost/weak_ptr.hpp>
#include "actionlib/action_definition.h"
#include "ros/console.h"
#include <boost/thread.hpp>
#include <actionlib/destruction_guard.h>
#include "actionlib/enclosure_deleter.h"
#include "actionlib/goal_id_generator.h"
#include <string>
#include "actionlib_msgs/GoalID.h"
#include "actionlib_msgs/GoalStatusArray.h"
#include <set>
#include <map>
#include "actionlib/client/terminal_state.h"
#include "cob_sdh/sdh.h"
#include "cob_sdh/util.h"
#include "cob_sdh/sdhlibrary_settings.h"
#include "cob_sdh/basisdef.h"
#include "cob_sdh/dsa.h"
#include "cob_sdh/dsaboost.h"
#include "cob_sdh/dbg.h"
#include <cob_msgs/JointCommand.h>
#include <cob_msgs/TactileForce.h>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include <cob_actions/JointCommandAction.h>
#include <cob_msgs/ContactArea.h>
#include <cob_srvs/Trigger.h>
#include <cob_srvs/demoinfo.h>
#include <cob_srvs/GetFingerXYZ.h>
#include <cob_srvs/Force.h>
#include <cob_srvs/SetOperationMode.h>

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Functions
void	AreaCallback (const cob_msgs::ContactAreaConstPtr &msg)
void	AxisAnglesToFingerAngles (std::vector< double > aa, std::vector< double > &fa0, std::vector< double > &fa1, std::vector< double > &fa2)
void	Callback (const std_msgs::Float32MultiArrayConstPtr &msg)
void	GotoStartPose (std::vector< double > &fa)
int	main (int argc, char **argv)
Variables
double	area2
double	area3
std::vector< double >	mv_
char const *	usage
Some informative variables

char const *	__author__ = "Dirk Osswald: dirk.osswald@de.schunk.com"
char const *	__copyright__ = "Copyright (c) 2007 SCHUNK GmbH & Co. KG"
char const *	__help__
char const *	__url__ = "http://www.schunk.com"
char const *	__version__ = "$Id: demo-contact-grasping.cpp 5022 2009-12-04 16:05:53Z Osswald2 $"

Detailed Description

Simple script to do grasping using tactile sensor info feedback. See __help__ and online help ("-h" or "--help") for available options.

General file information

Author:: Dirk Osswald

Date:: 2009-08-02

Copyright

Definition in file cob_sdh_demo.cpp.

Function Documentation

void AreaCallback ( const cob_msgs::ContactAreaConstPtr & msg )

Definition at line 148 of file cob_sdh_demo.cpp.

void AxisAnglesToFingerAngles	(	std::vector< double >	aa,
		std::vector< double > &	fa0,
		std::vector< double > &	fa1,
		std::vector< double > &	fa2
	)

Definition at line 190 of file cob_sdh_demo.cpp.

void Callback ( const std_msgs::Float32MultiArrayConstPtr & msg )

Definition at line 159 of file cob_sdh_demo.cpp.

void GotoStartPose ( std::vector< double > & fa )

Definition at line 170 of file cob_sdh_demo.cpp.

int main	(	int	argc,
		char **	argv
	)

finished:

Definition at line 207 of file cob_sdh_demo.cpp.

Variable Documentation

char const* __author__ = "Dirk Osswald: dirk.osswald@de.schunk.com"

Definition at line 106 of file cob_sdh_demo.cpp.

Definition at line 109 of file cob_sdh_demo.cpp.

char const* __help__

Initial value:

    "Simple script to do grasping with tactile sensor info feedback:\n"
    "The hand will move to a pregrasp pose (open hand). You can then\n"
    "reach an object to grasp into the hand. The actual grasping\n"
    "is started as soon as a contact is detected. The finger\n"
    "joints then try to move inwards until a certain\n"
    "force is reached on the corresponding tactile sensors.\n"
    "\n"
    "- Example usage:\n"
    "  - Make SDH connected to port 2 = COM3 with tactile sensors:\n"
    "    connected to port 3 = COM4 grasp:\n"
    "    > demo-contact-grasping -p 2  --dsaport=3\n"
    "     \n"
    "  - Make SDH connected to USB to RS232 converter 0 and with tactile sensors:\n"
    "    connected to USB to RS232 converter 1 grasp:\n"
    "    > demo-contact-grasping --sdh_rs_device=/dev/ttyUSB0  --dsa_rs_device=/dev/ttyUSB0\n"
    "     \n"
    "  - Get the version info of both the joint controllers and the tactile \n"
    "    sensor firmware from an SDH connected to:\n"
    "    - port 2 = COM3 (joint controllers) and \n"
    "    - port 3 = COM4 (tactile sensor controller) \n"
    "    > demo-contact-grasping --port=2 --dsaport=3 -v\n"

Definition at line 84 of file cob_sdh_demo.cpp.

char const* __url__ = "http://www.schunk.com"

Definition at line 107 of file cob_sdh_demo.cpp.

char const* __version__ = "$Id: demo-contact-grasping.cpp 5022 2009-12-04 16:05:53Z Osswald2 $"

Definition at line 108 of file cob_sdh_demo.cpp.

double area2

Definition at line 143 of file cob_sdh_demo.cpp.

double area3

Definition at line 144 of file cob_sdh_demo.cpp.

std::vector<double> mv_

Definition at line 157 of file cob_sdh_demo.cpp.

char const* usage