Public Member Functions | Protected Member Functions
shadowrobot::VirtualArm Class Reference

#include <virtual_arm.h>

Inheritance diagram for shadowrobot::VirtualArm:
Inheritance graph
[legend]

List of all members.

Public Member Functions

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)
 VirtualArm ()
 ~VirtualArm ()
 destructor

Protected Member Functions

void initializeMap ()
double toDegrees (double rad)
double toRad (double deg)

Detailed Description

Definition at line 34 of file virtual_arm.h.


Constructor & Destructor Documentation

Initializes the necessary mappings with a static list of names.

Definition at line 40 of file virtual_arm.cpp.

destructor

Definition at line 62 of file virtual_arm.cpp.


Member Function Documentation

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 220 of file virtual_arm.cpp.

void shadowrobot::VirtualArm::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 263 of file virtual_arm.cpp.

JointControllerData shadowrobot::VirtualArm::getContrl ( std::string  contrlr_name) [virtual]

Get the controller parameters for a given controller name.

Parameters:
contrlr_namethe name of the controller.
Returns:
The parameters of this controller

Implements shadowrobot::SRArticulatedRobot.

Definition at line 250 of file virtual_arm.cpp.

Generates a set of random data to be published by the diagnostic publisher, but keep the position and target as they are ( those are updated by the sendupdate() function).

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

Implements shadowrobot::SRArticulatedRobot.

Definition at line 268 of file virtual_arm.cpp.

JointData shadowrobot::VirtualArm::getJointData ( std::string  joint_name) [virtual]

In the virtual arm, getJointData() simply fetches the data from a given joint in the joints_map. As the targets and positions are up to date, there's no need of reading other values here for those two values. However, we generate random values for the other data (temperature, current, etc...)

Parameters:
joint_nameThe name of the joint, as specified in joints_map.
Returns:
The information regarding this joint.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 194 of file virtual_arm.cpp.

Initialise a mapping for the joints.

Definition at line 66 of file virtual_arm.cpp.

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

This function will set the target of the object to the given angle. It will also set the position to this target.

Todo:
This could be improved by implementing a control algorithm in this theoretic arm.
Parameters:
joint_nameThe Joint in joints_map you wish to send the target to.
targetThe target in degree
Returns:
0 if success ; -1 if error

Implements shadowrobot::SRArticulatedRobot.

Definition at line 154 of file virtual_arm.cpp.

short shadowrobot::VirtualArm::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 257 of file virtual_arm.cpp.

short shadowrobot::VirtualArm::setContrl ( std::string  contrlr_name,
JointControllerData  ctrlr_data 
) [virtual]

Set the controller parameters for a given controller name.

Parameters:
contrlr_nameThe name of the controller to setup.
ctrlr_dataThe data to pass to this controller.
Returns:
0 if success.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 244 of file virtual_arm.cpp.

double shadowrobot::VirtualArm::toDegrees ( double  rad) [inline, protected]

Convert an angle in radian to an angle in degrees.

Parameters:
degthe angle in rads
Returns:
the value in degrees.

Definition at line 110 of file virtual_arm.h.

double shadowrobot::VirtualArm::toRad ( double  deg) [inline, protected]

Convert an angle in degree to an angle in radians.

Parameters:
degthe angle in degrees
Returns:
the value in rads.

Definition at line 100 of file virtual_arm.h.


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


sr_hand
Author(s): Ugo Cupcic / ugo@shadowrobot.com, contact@shadowrobot.com
autogenerated on Fri Jan 3 2014 12:03:25