#include <sr_hand_lib.hpp>

Inheritance diagram for shadow_robot::SrHandLib:

Public Member Functions
bool	force_pid_callback (sr_robot_msgs::ForceController::Request &request, sr_robot_msgs::ForceController::Response &response, int motor_index)
bool	reset_motor_callback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response, std::pair< int, std::string > joint)
	SrHandLib (pr2_hardware_interface::HardwareInterface *hw)
	~SrHandLib ()
Protected Member Functions
std::string	find_joint_name (int motor_index)
virtual void	initialize (std::vector< std::string > joint_names, std::vector< int > motor_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors, std::vector< sr_actuator::SrActuator * > actuators)
void	update_force_control_in_param_server (std::string joint_name, int max_pwm, int sg_left, int sg_right, int f, int p, int i, int d, int imax, int deadband, int sign)
Private Member Functions
shadow_joints::CalibrationMap	read_joint_calibration ()
std::vector< int >	read_joint_to_motor_mapping ()
std::vector < shadow_joints::JointToSensor >	read_joint_to_sensor_mapping ()
std::vector < generic_updater::UpdateConfig >	read_update_rate_configs (std::string base_param, int nb_data_defined, const char *human_readable_data_types[], const int32u data_types[])
void	resend_pids (std::string joint_name, int motor_index)
Private Attributes
ros::ServiceServer	debug_service
	a service server for reconfiguring the debug data we want to publish
ros::NodeHandle	nodehandle_
std::map< std::string, ros::Timer >	pid_timers
Static Private Attributes
static const char *	human_readable_motor_data_types []
static const char *	human_readable_sensor_data_types []
static const int32u	motor_data_types []
static const int	nb_motor_data = 14
static const int	nb_sensor_data = 31
static const int32u	sensor_data_types []

Detailed Description

Definition at line 41 of file sr_hand_lib.hpp.

Constructor & Destructor Documentation

shadow_robot::SrHandLib::SrHandLib ( pr2_hardware_interface::HardwareInterface * hw )

Definition at line 123 of file sr_hand_lib.cpp.

shadow_robot::SrHandLib::~SrHandLib ( )

Definition at line 185 of file sr_hand_lib.cpp.

Member Function Documentation

std::string shadow_robot::SrHandLib::find_joint_name ( int motor_index ) [protected]

Finds the joint name for a certain motor index

Parameters:

motor_index The integer motor index

Definition at line 447 of file sr_hand_lib.cpp.

bool shadow_robot::SrHandLib::force_pid_callback	(	sr_robot_msgs::ForceController::Request &	request,
		sr_robot_msgs::ForceController::Response &	response,
		int	motor_index
	)

The service callback for setting the Force PID values. There's only one callback function, but it can called for any motors. We know which motor called the service thanks to the motor_index.

Parameters:

request	The request contains the new parameters for the controllers.
response	True if succeeded.
motor_index	The index of the motor for which the service has been called.

Returns:: true if succeeded.

Definition at line 337 of file sr_hand_lib.cpp.

void shadow_robot::SrHandLib::initialize	(	std::vector< std::string >	joint_names,
		std::vector< int >	motor_ids,
		std::vector< shadow_joints::JointToSensor >	joint_to_sensors,
		std::vector< sr_actuator::SrActuator * >	actuators
	)		`[protected, virtual]`

Initializes the hand library with the needed values.

Parameters:

joint_names	A vector containing all the joint names.
motor_ids	A vector containing the corresponding motor ids.
joint_to_sensors	A vector mapping the joint to the sensor index we read from the palm.
actuators	A vector containing the actuators for the different joints.

Implements shadow_robot::SrRobotLib.

Definition at line 194 of file sr_hand_lib.cpp.

shadow_joints::CalibrationMap shadow_robot::SrHandLib::read_joint_calibration ( ) [private]

Reads the calibration from the parameter server.

Returns:: a calibration map

Definition at line 561 of file sr_hand_lib.cpp.

std::vector< int > shadow_robot::SrHandLib::read_joint_to_motor_mapping ( ) [private]

Reads the mapping associating a joint to a motor. If the motor index is -1, then no motor is associated to this joint.

Returns:: a vector of motor indexes, ordered by joint.

Definition at line 603 of file sr_hand_lib.cpp.

std::vector< shadow_joints::JointToSensor > shadow_robot::SrHandLib::read_joint_to_sensor_mapping ( ) [private]

Reads the mapping between the sensors and the joints from the parameter server.

Returns:: a vector (size of the number of joints) containing vectors (containing the sensors which are combined to form a given joint)

Definition at line 503 of file sr_hand_lib.cpp.

std::vector< generic_updater::UpdateConfig > shadow_robot::SrHandLib::read_update_rate_configs	(	std::string	base_param,
		int	nb_data_defined,
		const char *	human_readable_data_types[],
		const int32u	data_types[]
	)		`[private]`

Simply reads the config from the parameter server.

string with the base name of the set of parameters to apply (found in the yaml file) number of data defined in the typedef names of the types of messages (must match with those in the yaml file) the command values corresponding to every one of the names

Returns:: A vector of UpdateConfig containing the type of data and the frequency at which we want to poll this data

Definition at line 621 of file sr_hand_lib.cpp.

void shadow_robot::SrHandLib::resend_pids	(	std::string	joint_name,
		int	motor_index
	)		`[private]`

Read the motor board force pids from the parameter servers, called when resetting the motor.

Parameters:

joint_name	the joint we want to reset
motor_index	the index of the motor for this joint

Definition at line 259 of file sr_hand_lib.cpp.

bool shadow_robot::SrHandLib::reset_motor_callback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response,
		std::pair< int, std::string >	joint
	)

Reset the motor at motor index.

Parameters:

request	empty
response	empty
joint	A pair containing the index of the motor for the given joint followed by the name of the joint we're resetting

Returns:: true if success

Definition at line 235 of file sr_hand_lib.cpp.

void shadow_robot::SrHandLib::update_force_control_in_param_server	(	std::string	joint_name,
		int	max_pwm,
		int	sg_left,
		int	sg_right,
		int	f,
		int	p,
		int	i,
		int	d,
		int	imax,
		int	deadband,
		int	sign
	)		`[protected]`

Updates the parameter values for the force control in the Parameter Server

Parameters:

joint_name	The name of the joint.
max_pwm	The max pwm the motor will apply
sg_left	Strain gauge left
sg_right	Strain gauge right
f	The feedforward term (directly adds f*error to the output of the PID)
p	The p value.
i	the i value.
d	the d value.
imax	the imax value.
deadband	the deadband on the force.
sign	can be 0 or 1 depending on the way the motor is plugged in.

Definition at line 462 of file sr_hand_lib.cpp.

Member Data Documentation

ros::ServiceServer shadow_robot::SrHandLib::debug_service [private]

a service server for reconfiguring the debug data we want to publish

Definition at line 180 of file sr_hand_lib.hpp.

const char * shadow_robot::SrHandLib::human_readable_motor_data_types [static, private]

Initial value:

 {"sgl", "sgr", "pwm", "flags", "current",
                                                                           "voltage", "temperature", "can_num_received",
                                                                           "can_num_transmitted", "slow_data",
                                                                           "can_error_counters",
                                                                           "pterm", "iterm", "dterm"}

Definition at line 172 of file sr_hand_lib.hpp.

const char * shadow_robot::SrHandLib::human_readable_sensor_data_types [static, private]

Definition at line 176 of file sr_hand_lib.hpp.

const int32u shadow_robot::SrHandLib::motor_data_types [static, private]

Initial value:

 {MOTOR_DATA_SGL, MOTOR_DATA_SGR,
                                                             MOTOR_DATA_PWM, MOTOR_DATA_FLAGS,
                                                             MOTOR_DATA_CURRENT, MOTOR_DATA_VOLTAGE,
                                                             MOTOR_DATA_TEMPERATURE, MOTOR_DATA_CAN_NUM_RECEIVED,
                                                             MOTOR_DATA_CAN_NUM_TRANSMITTED, MOTOR_DATA_SLOW_MISC,
                                                             MOTOR_DATA_CAN_ERROR_COUNTERS,
                                                             MOTOR_DATA_PTERM, MOTOR_DATA_ITERM,
                                                             MOTOR_DATA_DTERM}