shadowrobot::VirtualArm Class Reference

#include <virtual_arm.h>

Inheritance diagram for shadowrobot::VirtualArm:

Public Member Functions
virtual JointsMap	getAllJointsData ()
virtual void	getConfig (std::string joint_name)
virtual JointControllerData	getContrl (std::string ctrlr_name)
virtual std::vector < DiagnosticData >	getDiagnostics ()
virtual JointData	getJointData (std::string joint_name)
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)
	VirtualArm ()
	~VirtualArm ()
	destructor
Protected Member Functions
void	initializeMap ()
double	toDegrees (double rad)
double	toRad (double deg)

Detailed Description

Definition at line 34 of file virtual_arm.h.

Constructor & Destructor Documentation

shadowrobot::VirtualArm::VirtualArm ( )

Initializes the necessary mappings with a static list of names.

Definition at line 28 of file virtual_arm.cpp.

shadowrobot::VirtualArm::~VirtualArm ( )

destructor

Definition at line 50 of file virtual_arm.cpp.

Member Function Documentation

SRArticulatedRobot::JointsMap shadowrobot::VirtualArm::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 170 of file virtual_arm.cpp.

void shadowrobot::VirtualArm::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 211 of file virtual_arm.cpp.

JointControllerData shadowrobot::VirtualArm::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 198 of file virtual_arm.cpp.

std::vector< DiagnosticData > shadowrobot::VirtualArm::getDiagnostics ( ) [virtual]

Generates a set of random data to be published by the diagnostic publisher, but keep the position and target as they are ( those are updated by the sendupdate() function).

Returns:: A vector containing all the diagnostics for the hand (motor information, etc...)

Implements shadowrobot::SRArticulatedRobot.

Definition at line 216 of file virtual_arm.cpp.

JointData shadowrobot::VirtualArm::getJointData ( std::string joint_name ) [virtual]

In the virtual arm, getJointData() simply fetches the data from a given joint in the joints_map. As the targets and positions are up to date, there's no need of reading other values here for those two values. However, we generate random values for the other data (temperature, current, etc...)

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 146 of file virtual_arm.cpp.

void shadowrobot::VirtualArm::initializeMap ( ) [protected]

Initialise a mapping for the joints.

Definition at line 54 of file virtual_arm.cpp.

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

This function will set the target of the object to the given angle. It will also set the position to this target.

Todo:: This could be improved by implementing a control algorithm in this theoretic arm.

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 105 of file virtual_arm.cpp.

short shadowrobot::VirtualArm::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 205 of file virtual_arm.cpp.

short shadowrobot::VirtualArm::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 192 of file virtual_arm.cpp.

double shadowrobot::VirtualArm::toDegrees ( double rad ) [inline, protected]

Convert an angle in radian to an angle in degrees.

Parameters:

deg

the angle in rads

Returns:: the value in degrees.

Definition at line 110 of file virtual_arm.h.

double shadowrobot::VirtualArm::toRad ( double deg ) [inline, protected]

Convert an angle in degree to an angle in radians.

Parameters:

deg

the angle in degrees

Returns:: the value in rads.

Definition at line 100 of file virtual_arm.h.

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

shadowrobot::VirtualArm Class Reference

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation