The Virtual Shadowhand can be used as a simulator. As both the real hand and the virtual hand are children from the shadowhand class, using a virtual or a real hand doesn't change anything in the way you call them in your programs. More...

#include <virtual_shadowhand.h>

Inheritance diagram for shadowrobot::VirtualShadowhand:

[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)
	VirtualShadowhand ()
	~VirtualShadowhand ()
	destructor
Protected Types
typedef std::map< std::string, JointControllerData >	ControllersMap
Protected Member Functions
void	initializeMap ()
double	toDegrees (double rad)
double	toRad (double deg)
Protected Attributes
ControllersMap	controllers_map
	Contains the mapping between the controller names and their data.
ros::NodeHandle	n_tilde
ros::NodeHandle	node
	ROS Node handles.

Detailed Description

The Virtual Shadowhand can be used as a simulator. As both the real hand and the virtual hand are children from the shadowhand class, using a virtual or a real hand doesn't change anything in the way you call them in your programs.

Definition at line 43 of file virtual_shadowhand.h.

Member Typedef Documentation

typedef std::map<std::string, JointControllerData> shadowrobot::VirtualShadowhand::ControllersMap [protected]

See also:: controllers_map

Definition at line 109 of file virtual_shadowhand.h.

Constructor & Destructor Documentation

shadowrobot::VirtualShadowhand::VirtualShadowhand ( )

Initializes the necessary mappings with a static list of names.

Definition at line 43 of file virtual_shadowhand.cpp.

shadowrobot::VirtualShadowhand::~VirtualShadowhand ( )

destructor

Definition at line 64 of file virtual_shadowhand.cpp.

Member Function Documentation

SRArticulatedRobot::JointsMap shadowrobot::VirtualShadowhand::getAllJointsData ( ) [virtual]

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 340 of file virtual_shadowhand.cpp.

void shadowrobot::VirtualShadowhand::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 408 of file virtual_shadowhand.cpp.

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

Get the controller parameters for a given controller name.

Parameters:

contrlr_name the name of the controller.

Returns:: The parameters of this controller

Implements shadowrobot::SRArticulatedRobot.

Definition at line 383 of file virtual_shadowhand.cpp.

std::vector< DiagnosticData > shadowrobot::VirtualShadowhand::getDiagnostics ( ) [virtual]

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 413 of file virtual_shadowhand.cpp.

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

In the virtual hand, 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_name The name of the joint, as specified in joints_map.

Returns:: The information regarding this joint.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 312 of file virtual_shadowhand.cpp.

void shadowrobot::VirtualShadowhand::initializeMap ( ) [protected]

Initialize a mapping for the joints as well as a mapping for the controllers.

the parameters for the motors

Definition at line 68 of file virtual_shadowhand.cpp.

short shadowrobot::VirtualShadowhand::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 hand.

Parameters:

joint_name	The Joint in joints_map you wish to send the target to.
target	The target in degree

Returns:: 0 if success ; -1 if error

Implements shadowrobot::SRArticulatedRobot.

Definition at line 221 of file virtual_shadowhand.cpp.

short shadowrobot::VirtualShadowhand::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 402 of file virtual_shadowhand.cpp.

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

Set the controller parameters for a given controller name.

Parameters:

contrlr_name	The name of the controller to setup.
ctrlr_data	The data to pass to this controller.

Returns:: 0 if success.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 363 of file virtual_shadowhand.cpp.

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

Convert an angle in radian to an angle in degrees.

Parameters:

deg	the angle in rads

Returns:: the value in degrees.

Definition at line 128 of file virtual_shadowhand.h.

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

Convert an angle in degree to an angle in radians.

Parameters:

deg	the angle in degrees

Returns:: the value in rads.

Definition at line 118 of file virtual_shadowhand.h.

Member Data Documentation

ControllersMap shadowrobot::VirtualShadowhand::controllers_map [protected]

Contains the mapping between the controller names and their data.

Definition at line 111 of file virtual_shadowhand.h.

ros::NodeHandle shadowrobot::VirtualShadowhand::n_tilde [protected]

Definition at line 91 of file virtual_shadowhand.h.

ros::NodeHandle shadowrobot::VirtualShadowhand::node [protected]

ROS Node handles.

Definition at line 91 of file virtual_shadowhand.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation