IRI ROS Specific Driver Class. More...

#include <dynamixel_gripper_driver.h>

Inheritance diagram for DynamixelGripperDriver:

Public Types
typedef iri_dynamixel_gripper::DynamixelGripperConfig	Config
	define config type
Public Member Functions
bool	close_gripper ()
	gripper will perform a closing action (pick)
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
	DynamixelGripperDriver (void)
	constructor
float	get_angle ()
	return current angle position of the motor
float	get_effort ()
	return the current motor effort
float	get_max_effort ()
	return the max effort supported by the motor
bool	is_moving ()
	return if the gripper is currently moving
bool	open_gripper ()
	gripper will perform an opening action (lift)
bool	openDriver (void)
	open driver
bool	startDriver (void)
	start driver
void	stop_gripper ()
	ask gripper to stops its motion
bool	stopDriver (void)
	stop driver
	~DynamixelGripperDriver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Private Member Functions
bool	move_gripper (const double position_in_radians)
	internal function to perfemor gripper movement
Private Attributes
int	baudrate_
int	bus_id_
bool	closed_
double	effort_
double	max_angle_
double	min_angle_
boost::shared_ptr < CDynamixelMotor >	motor_
unsigned char	servo_id_

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The DynamixelGripperDriver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The DynamixelGripperConfig.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 52 of file dynamixel_gripper_driver.h.

Member Typedef Documentation

typedef iri_dynamixel_gripper::DynamixelGripperConfig DynamixelGripperDriver::Config

define config type

Define a Config type with the DynamixelGripperConfig. All driver implementations will then use the same variable type Config.

Definition at line 72 of file dynamixel_gripper_driver.h.

Constructor & Destructor Documentation

DynamixelGripperDriver::DynamixelGripperDriver ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file dynamixel_gripper_driver.cpp.

DynamixelGripperDriver::~DynamixelGripperDriver ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 199 of file dynamixel_gripper_driver.cpp.

Member Function Documentation

bool DynamixelGripperDriver::close_gripper ( )

gripper will perform a closing action (pick)

Definition at line 113 of file dynamixel_gripper_driver.cpp.

bool DynamixelGripperDriver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 44 of file dynamixel_gripper_driver.cpp.

void DynamixelGripperDriver::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 63 of file dynamixel_gripper_driver.cpp.

float DynamixelGripperDriver::get_angle ( )

return current angle position of the motor

Definition at line 157 of file dynamixel_gripper_driver.cpp.

float DynamixelGripperDriver::get_effort ( )

return the current motor effort

Definition at line 142 of file dynamixel_gripper_driver.cpp.

float DynamixelGripperDriver::get_max_effort ( void )

return the max effort supported by the motor

Definition at line 151 of file dynamixel_gripper_driver.cpp.

bool DynamixelGripperDriver::is_moving ( )

return if the gripper is currently moving

Definition at line 126 of file dynamixel_gripper_driver.cpp.

bool DynamixelGripperDriver::move_gripper ( const double position_in_radians ) [private]

internal function to perfemor gripper movement

Definition at line 166 of file dynamixel_gripper_driver.cpp.

bool DynamixelGripperDriver::open_gripper ( )

gripper will perform an opening action (lift)

Definition at line 107 of file dynamixel_gripper_driver.cpp.

bool DynamixelGripperDriver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 15 of file dynamixel_gripper_driver.cpp.

bool DynamixelGripperDriver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 51 of file dynamixel_gripper_driver.cpp.

void DynamixelGripperDriver::stop_gripper ( )

ask gripper to stops its motion

Definition at line 119 of file dynamixel_gripper_driver.cpp.

bool DynamixelGripperDriver::stopDriver ( void ) [virtual]

stop driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.