shadowrobot::CANCompatibilityArm Class Reference

This compatibility interface is a wrapper around the new CAN Hand ROS driver. It is used to present the same interface as the CAN hand. More...

#include <CAN_compatibility_arm.hpp>

Inheritance diagram for shadowrobot::CANCompatibilityArm:

[legend]

List of all members.

Public Member Functions
ROS_DEPRECATED	CANCompatibilityArm ()
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)
	~CANCompatibilityArm ()
	destructor
Protected Member Functions
void	initializeMap ()
void	joint_states_callback (const sensor_msgs::JointStateConstPtr &msg)
Protected Attributes
std::vector< ros::Publisher >	CAN_publishers
	This vector stores publishers to each joint controller.
ros::Subscriber	joint_state_subscriber
	a subscriber for the /joint_states topic.
ros::NodeHandle	n_tilde
ros::NodeHandle	node

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Detailed Description

This compatibility interface is a wrapper around the new CAN Hand ROS driver. It is used to present the same interface as the CAN hand.

Definition at line 44 of file CAN_compatibility_arm.hpp.

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Constructor & Destructor Documentation

ROS_DEPRECATED shadowrobot::CANCompatibilityArm::CANCompatibilityArm

(

)

Initializes the necessary mappings with a static list of names.

Definition at line 37 of file CAN_compatibility_arm.cpp.

shadowrobot::CANCompatibilityArm::~CANCompatibilityArm

(

)

destructor

Definition at line 48 of file CAN_compatibility_arm.cpp.

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Member Function Documentation

SRArticulatedRobot::JointsMap shadowrobot::CANCompatibilityArm::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 162 of file CAN_compatibility_arm.cpp.

void shadowrobot::CANCompatibilityArm::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 186 of file CAN_compatibility_arm.cpp.

JointControllerData shadowrobot::CANCompatibilityArm::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 173 of file CAN_compatibility_arm.cpp.

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

(

)

[virtual]

Not used in this interface: the diagnostics are published directly by the EtherCAT hand driver.

Returns:

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

Implements shadowrobot::SRArticulatedRobot.

Definition at line 191 of file CAN_compatibility_arm.cpp.

JointData shadowrobot::CANCompatibilityArm::getJointData

(

std::string

joint_name

)

[virtual]

Returns the last data we received for the given joint.

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 140 of file CAN_compatibility_arm.cpp.

void shadowrobot::CANCompatibilityArm::initializeMap

(

)

[protected]

Initialize a mapping for the joints and the publishers.

Definition at line 52 of file CAN_compatibility_arm.cpp.

void shadowrobot::CANCompatibilityArm::joint_states_callback

(

const sensor_msgs::JointStateConstPtr &

msg

)

[protected]

This callback is called each time a joint state message is received. We Update the internal joint map when we receive this message.

Parameters:

msg

the joint state message.

Definition at line 197 of file CAN_compatibility_arm.cpp.

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

This function will send the targets to the correct controllers.

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 103 of file CAN_compatibility_arm.cpp.

short shadowrobot::CANCompatibilityArm::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 180 of file CAN_compatibility_arm.cpp.

short shadowrobot::CANCompatibilityArm::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 167 of file CAN_compatibility_arm.cpp.

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Member Data Documentation

std::vector< ros::Publisher > shadowrobot::CANCompatibilityArm::CAN_publishers [protected]

This vector stores publishers to each joint controller.

Definition at line 103 of file CAN_compatibility_arm.hpp.

ros::Subscriber shadowrobot::CANCompatibilityArm::joint_state_subscriber [protected]

a subscriber for the /joint_states topic.

Definition at line 106 of file CAN_compatibility_arm.hpp.

ros::NodeHandle shadowrobot::CANCompatibilityArm::n_tilde [protected]

Definition at line 87 of file CAN_compatibility_arm.hpp.

ros::NodeHandle shadowrobot::CANCompatibilityArm::node [protected]

Definition at line 87 of file CAN_compatibility_arm.hpp.

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

• CAN_compatibility_arm.hpp
• CAN_compatibility_arm.cpp