allegroNode.cpp File Reference

#include <iostream>
#include <boost/thread/thread.hpp>
#include <boost/date_time.hpp>
#include <boost/thread/locks.hpp>
#include "ros/ros.h"
#include "ros/service.h"
#include "ros/service_server.h"
#include "sensor_msgs/JointState.h"
#include "BHand/BHand.h"
#include "controlAllegroHand.h"

Include dependency graph for allegroNode.cpp:

Go to the source code of this file.

Defines
#define	JOINT_CMD_TOPIC   "/allegro/joint_cmd"
#define	JOINT_STATE_TOPIC   "/allegro/joint_state"
Functions
int	main (int argc, char **argv)
void	SetjointCallback (const sensor_msgs::JointState &msg)
void	timerCallback (const ros::TimerEvent &event)
Variables
controlAllegroHand *	canDevice
double	curr_position [DOF_JOINTS]
double	curr_position_pre [DOF_JOINTS]
double	curr_torque [DOF_JOINTS]
double	curr_velocity [DOF_JOINTS]
double	desire_position [DOF_JOINTS]
double	desire_torque [DOF_JOINTS]
double	dt
FILE *	fid
FILE *	fidTime
int	frame = 0
eMotionType	gMotionType = eMotionType_NONE
ros::Subscriber	joint_cmd_sub
ros::Publisher	joint_state_pub
int	kill = false
BHand	lBHand (eHandType_Right)
int	lEmergencyStop = 0
bool	lIsBegin = false
sensor_msgs::JointState	msgJoint
boost::mutex *	mutex
double	out_torque [DOF_JOINTS]
double	secs
ros::Time	tnow
ros::Time	tstart

---

Define Documentation

#define JOINT_CMD_TOPIC   "/allegro/joint_cmd"

Definition at line 26 of file allegroNode.cpp.

#define JOINT_STATE_TOPIC   "/allegro/joint_state"

Definition at line 25 of file allegroNode.cpp.

---

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 161 of file allegroNode.cpp.

void SetjointCallback

(

const sensor_msgs::JointState &

msg

)

Definition at line 67 of file allegroNode.cpp.

void timerCallback

(

const ros::TimerEvent &

event

)

Definition at line 80 of file allegroNode.cpp.

---

Variable Documentation

controlAllegroHand* canDevice

Definition at line 65 of file allegroNode.cpp.

double curr_position[DOF_JOINTS]

Definition at line 28 of file allegroNode.cpp.

double curr_position_pre[DOF_JOINTS]

Definition at line 29 of file allegroNode.cpp.

double curr_torque[DOF_JOINTS]

Definition at line 31 of file allegroNode.cpp.

double curr_velocity[DOF_JOINTS]

Definition at line 30 of file allegroNode.cpp.

double desire_position[DOF_JOINTS]

Definition at line 32 of file allegroNode.cpp.

double desire_torque[DOF_JOINTS]

Definition at line 33 of file allegroNode.cpp.

double dt

Definition at line 42 of file allegroNode.cpp.

FILE* fid

Definition at line 47 of file allegroNode.cpp.

FILE* fidTime

Definition at line 48 of file allegroNode.cpp.

int frame = 0

Definition at line 39 of file allegroNode.cpp.

eMotionType gMotionType = eMotionType_NONE

Definition at line 62 of file allegroNode.cpp.

ros::Subscriber joint_cmd_sub

Definition at line 53 of file allegroNode.cpp.

ros::Publisher joint_state_pub

Definition at line 52 of file allegroNode.cpp.

int kill = false

Definition at line 45 of file allegroNode.cpp.

BHand lBHand(eHandType_Right)

int lEmergencyStop = 0

Definition at line 40 of file allegroNode.cpp.

bool lIsBegin = false

Definition at line 44 of file allegroNode.cpp.

sensor_msgs::JointState msgJoint

Definition at line 54 of file allegroNode.cpp.

boost::mutex* mutex

Definition at line 50 of file allegroNode.cpp.

double out_torque[DOF_JOINTS]

Definition at line 37 of file allegroNode.cpp.

double secs

Definition at line 35 of file allegroNode.cpp.

ros::Time tnow

Definition at line 57 of file allegroNode.cpp.

ros::Time tstart

Definition at line 56 of file allegroNode.cpp.