shadowrobot::RealShadowhand Class Reference

#include <real_shadowhand.h>

Inheritance diagram for shadowrobot::RealShadowhand:

[legend]

List of all members.

Public Member Functions
virtual JointsMap	getAllJointsData ()
virtual void	getConfig (std::string joint_name)
virtual JointControllerData	getContrl (std::string contrlr_name)
virtual std::vector < DiagnosticData >	getDiagnostics ()
virtual JointData	getJointData (std::string joint_name)
	RealShadowhand ()
virtual short	sendupdate (std::string joint_name, double target)
virtual short	setConfig (std::vector< std::string > myConfig)
virtual short	setContrl (std::string contrlr_name, JointControllerData ctrlr_data)
	~RealShadowhand ()
	Destructor.
Protected Member Functions
void	initializeMap ()

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Detailed Description

The real shadowhand class is a class used to access the C code of the Dextrous Hand.

Definition at line 39 of file real_shadowhand.h.

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Constructor & Destructor Documentation

shadowrobot::RealShadowhand::RealShadowhand

(

)

Constructor for the real Shadowhand: initialize the connection to the robot and also initialize the joint_map containing the mapping between joint_names and their data.

Definition at line 31 of file real_shadowhand.cpp.

shadowrobot::RealShadowhand::~RealShadowhand

(

)

Destructor.

Definition at line 51 of file real_shadowhand.cpp.

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Member Function Documentation

SRArticulatedRobot::JointsMap shadowrobot::RealShadowhand::getAllJointsData

(

)

[virtual]

Get the data for all the joints.

Returns:

a mapping between the joints names and the information for each joint.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 193 of file real_shadowhand.cpp.

void shadowrobot::RealShadowhand::getConfig

(

std::string

joint_name

)

[virtual]

Get the config of the palm

Todo:

Not implemented yet

Parameters:

joint_name

Implements shadowrobot::SRArticulatedRobot.

Definition at line 283 of file real_shadowhand.cpp.

JointControllerData shadowrobot::RealShadowhand::getContrl

(

std::string

contrlr_name

)

[virtual]

Get the controller parameters for a given controller name.

Parameters:

contrlr_name

the name of the controller.

Returns:

The parameters of this controller

Implements shadowrobot::SRArticulatedRobot.

Definition at line 246 of file real_shadowhand.cpp.

std::vector< DiagnosticData > shadowrobot::RealShadowhand::getDiagnostics

(

)

[virtual]

Get the diagnostics for the whole articulated robot.

Returns:

A vector containing all the diagnostics for the robot (motor information, etc...)

Implements shadowrobot::SRArticulatedRobot.

Definition at line 305 of file real_shadowhand.cpp.

JointData shadowrobot::RealShadowhand::getJointData

(

std::string

joint_name

)

[virtual]

Get the joint data for a specific joint.

See also:

JointData

Parameters:

joint_name

The name of the joint, as specified in joints_map.

Returns:

The information regarding this joint.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 148 of file real_shadowhand.cpp.

void shadowrobot::RealShadowhand::initializeMap

(

)

[protected]

the parameters for the motors

Definition at line 55 of file real_shadowhand.cpp.

short shadowrobot::RealShadowhand::sendupdate	(	std::string	joint_name,
		double	target
	)			[virtual]

Send a new target to a given joint on the robot. The command will be issued to the robot which will move if the controllers are started and tuned. The target is truncated to the correct range.

Parameters:

	joint_name	The Joint in joints_map you wish to send the target to.
	target	The target in degree

Returns:

0 if success ; -1 if error

Implements shadowrobot::SRArticulatedRobot.

Definition at line 118 of file real_shadowhand.cpp.

short shadowrobot::RealShadowhand::setConfig

(

std::vector< std::string >

myConfig

)

[virtual]

Set the config of the palm

Todo:

Not implemented yet

Parameters:

myConfig

Returns:

Implements shadowrobot::SRArticulatedRobot.

Definition at line 264 of file real_shadowhand.cpp.

short shadowrobot::RealShadowhand::setContrl	(	std::string	contrlr_name,
		JointControllerData	ctrlr_data
	)			[virtual]

Set the controller parameters for a given controller name.

Parameters:

	contrlr_name	The name of the controller to setup.
	ctrlr_data	The data to pass to this controller.

Returns:

0 if success.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 205 of file real_shadowhand.cpp.

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The documentation for this class was generated from the following files:

• real_shadowhand.h
• real_shadowhand.cpp