shadowrobot Namespace Reference

Classes

struct  DiagnosticData
struct  JointControllerData
struct  JointData
struct  Parameters
class  RealArm
class  RealShadowhand
class  SRArticulatedRobot
 This is a parent class for the different types of Shadowhand we can have. It makes it possible to swap from a virtual to a real hand while using the same utilities to interact with the hand. One (or more) ROS subscriber and publisher can then share the same instance of a Shadowhand object to update the information contained in this object. More...
class  SRDiagnosticer
class  SRPublisher
class  SRSubscriber
class  SRTactileSensorPublisher
class  Valves
class  VirtualArm
class  VirtualShadowhand
 The Virtual Shadowhand can be used as a simulator. As both the real hand and the virtual hand are children from the shadowhand class, using a virtual or a real hand doesn't change anything in the way you call them in your programs. More...

Enumerations

enum  controller_parameters {
  PARAM_sensor, PARAM_target, PARAM_valve, PARAM_deadband,
  PARAM_p, PARAM_i, PARAM_d, PARAM_imax,
  PARAM_output_offset, PARAM_shift, PARAM_output_max, PARAM_motor_maxforce,
  PARAM_motor_safeforce, PARAM_force_p, PARAM_force_i, PARAM_force_d,
  PARAM_force_imax, PARAM_force_out_shift, PARAM_force_deadband, PARAM_force_offset,
  PARAM_sensor_imax, PARAM_sensor_out_shift, PARAM_sensor_deadband, PARAM_sensor_offset,
  PARAM_max_temperature, PARAM_max_current, PARAM_type_of_sensor, PARAM_type_of_setpoint
}
enum  hardware_types { sr_hand_hardware, sr_arm_hardware }
 

An enum containing the different types of hardware the diagnosticer is publishing data about.

More...

Enumeration Type Documentation

An enum containing all the different types of parameters for the controllers.

Enumerator:
PARAM_sensor 

select the sensor that is being controller

PARAM_target 

select the sensor to read the setpoint from

PARAM_valve 

select which valve is being controlled, if appropriate

PARAM_deadband 

select the deadband value, if appropriate (actual deadband used is $2^{(deadband-16)}$)

PARAM_p 

change the proportional gain

PARAM_i 

change the integral gain

PARAM_d 

change the derivative gain

PARAM_imax 

PARAM_imax.

PARAM_output_offset 

PARAM_output_offset.

PARAM_shift 

PARAM_shift.

PARAM_output_max 

PARAM_output_max.

PARAM_motor_maxforce 

PARAM_motor_maxforce.

PARAM_motor_safeforce 

PARAM_motor_safeforce.

PARAM_force_p 

PARAM_force_p.

PARAM_force_i 

PARAM_force_i.

PARAM_force_d 

PARAM_force_d.

PARAM_force_imax 

PARAM_force_imax.

PARAM_force_out_shift 

PARAM_force_out_shift.

PARAM_force_deadband 

PARAM_force_deadband.

PARAM_force_offset 

PARAM_force_offset.

PARAM_sensor_imax 

PARAM_sensor_imax.

PARAM_sensor_out_shift 

PARAM_sensor_out_shift.

PARAM_sensor_deadband 

PARAM_sensor_deadband.

PARAM_sensor_offset 

PARAM_sensor_offset.

PARAM_max_temperature 

PARAM_max_temperature.

PARAM_max_current 

PARAM_max_current.

PARAM_type_of_sensor 

PARAM_type_of_sensor.

PARAM_type_of_setpoint 

PARAM_type_of_setpoint.

Definition at line 117 of file sr_articulated_robot.h.

An enum containing the different types of hardware the diagnosticer is publishing data about.

The Diagnosticer is a ROS publisher which publishes diagnostic data regarding the Dextrous Hand or the Shadow Arm, on the \/diagnostics topic. The diagnostics can be viewed using the robot_monitor package.

To view the diagnostics, just rosmake robot_monitor, and then rosrun robot_monitor robot_monitor.

Enumerator:
sr_hand_hardware 

the Dextrous Hand

sr_arm_hardware 

the Shadow Arm

Definition at line 52 of file sr_diagnosticer.h.

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sr_hand
Author(s): Ugo Cupcic / ugo@shadowrobot.com, contact@shadowrobot.com
autogenerated on Fri Jan 11 09:32:58 2013