shadowrobot::HandCommander Class Reference

#include <hand_commander.hpp>

List of all members.

Public Member Functions
	HandCommander ()
void	sendCommands (std::vector< sr_robot_msgs::joint > joint_vector)
	~HandCommander ()
	Destructor.
Private Member Functions
void	initializeEthercatHand ()
Private Attributes
bool	ethercat_controllers_found
shadowhandRosLib::HandType	hand_type
NodeHandle	node_
	ros node handle
Publisher	sr_hand_target_pub
	Publisher for the CAN hand targets.
boost::ptr_map< std::string, Publisher >	sr_hand_target_pub_map
	Publishers for the ethercat hand targets for every joint.
Static Private Attributes
static const double	TIMEOUT_TO_DETECT_CONTROLLER_MANAGER = 3.0

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Detailed Description

This ROS subscriber is used to issue commands to the hand / arm, from sending a set of targets, to changing the controller parameters.

Definition at line 61 of file hand_commander.hpp.

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Constructor & Destructor Documentation

shadowrobot::HandCommander::HandCommander

(

)

Definition at line 41 of file hand_commander.cpp.

shadowrobot::HandCommander::~HandCommander

(

)

Destructor.

Definition at line 60 of file hand_commander.cpp.

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Member Function Documentation

void shadowrobot::HandCommander::initializeEthercatHand

(

)

[private]

init function for the ethercat hand It can be called if we know that there's an ethercat hand (pr2_controller_manager running)

Definition at line 64 of file hand_commander.cpp.

void shadowrobot::HandCommander::sendCommands

(

std::vector< sr_robot_msgs::joint >

joint_vector

)

Definition at line 93 of file hand_commander.cpp.

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Member Data Documentation

bool shadowrobot::HandCommander::ethercat_controllers_found [private]

Definition at line 80 of file hand_commander.hpp.

shadowhandRosLib::HandType shadowrobot::HandCommander::hand_type [private]

Definition at line 79 of file hand_commander.hpp.

NodeHandle shadowrobot::HandCommander::node_ [private]

ros node handle

Definition at line 73 of file hand_commander.hpp.

Publisher shadowrobot::HandCommander::sr_hand_target_pub [private]

Publisher for the CAN hand targets.

Definition at line 75 of file hand_commander.hpp.

boost::ptr_map<std::string,Publisher> shadowrobot::HandCommander::sr_hand_target_pub_map [private]

Publishers for the ethercat hand targets for every joint.

Definition at line 77 of file hand_commander.hpp.

const double shadowrobot::HandCommander::TIMEOUT_TO_DETECT_CONTROLLER_MANAGER = 3.0 [static, private]

Definition at line 88 of file hand_commander.hpp.

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

• hand_commander.hpp
• hand_commander.cpp