shadowhand_to_cyberglove_remapper::ShadowhandToCybergloveRemapper Class Reference

#include <shadowhand_to_cyberglove_remapper.h>

Public Member Functions
	ShadowhandToCybergloveRemapper ()
	~ShadowhandToCybergloveRemapper ()
Private Member Functions
void	init_names ()
void	jointstatesCallback (const sensor_msgs::JointStateConstPtr &msg)
Private Attributes
CalibrationParser *	calibration_parser
	the calibration parser containing the mapping matrix
Subscriber	cyberglove_jointstates_sub
	subscriber to the jointstates topic from the cyberglove
std::vector< std::string >	joints_names
	Vector containing all the joints names for the shadowhand.
NodeHandle	n_tilde
NodeHandle	node
	ROS node handles.
Publisher	shadowhand_pub
	publish to the shadowhand sendupdate topic
Static Private Attributes
static const int	number_hand_joints = 20

Detailed Description

This program remaps the force information contained in /joint_states coming from the hand to the /cybergraspforces topic used to control the cybergrasp.

Definition at line 45 of file shadowhand_to_cyberglove_remapper.h.

Constructor & Destructor Documentation

shadowhand_to_cyberglove_remapper::ShadowhandToCybergloveRemapper::ShadowhandToCybergloveRemapper ( )

Init the publisher / subscriber, the joint names, read the calibratin matrix

Definition at line 46 of file shadowhand_to_cyberglove_remapper.cpp.

shadowhand_to_cyberglove_remapper::ShadowhandToCybergloveRemapper::~ShadowhandToCybergloveRemapper ( ) [inline]

Definition at line 52 of file shadowhand_to_cyberglove_remapper.h.

Member Function Documentation

void shadowhand_to_cyberglove_remapper::ShadowhandToCybergloveRemapper::init_names ( ) [private]

Init the vector containing the joints names

Definition at line 75 of file shadowhand_to_cyberglove_remapper.cpp.

void shadowhand_to_cyberglove_remapper::ShadowhandToCybergloveRemapper::jointstatesCallback ( const sensor_msgs::JointStateConstPtr & msg ) [private]

process the joint_states callback: receives the message from the cyberglove node, remap it to the Dextrous hand and publish this message on a given topic

Parameters:

msg

the joint_states message

Definition at line 99 of file shadowhand_to_cyberglove_remapper.cpp.