#include <sr_muscle_robot_lib.hpp>

Inheritance diagram for shadow_robot::SrMuscleRobotLib< StatusType, CommandType >:

Public Member Functions
void	add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)
void	build_command (CommandType *command)
void	reinitialize_motors ()
	SrMuscleRobotLib (pr2_hardware_interface::HardwareInterface *hw)
void	update (StatusType *status_data)
virtual	~SrMuscleRobotLib ()
Public Attributes
operation_mode::device_update_state::DeviceUpdateState	muscle_current_state
	Current update state of the motor (initialization, operation..)
Protected Member Functions
bool	check_muscle_driver_data_received_flags ()
unsigned int	get_muscle_pressure (int muscle_driver_id, int muscle_id, StatusType *status_data)
std::vector< std::pair < std::string, bool > >	humanize_flags (int flag)
void	init_timer_callback (const ros::TimerEvent &event)
virtual void	initialize (std::vector< std::string > joint_names, std::vector< int > actuator_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors, std::vector< sr_actuator::SrGenericActuator * > actuators)=0
void	read_additional_muscle_data (boost::ptr_vector< shadow_joints::Joint >::iterator joint_tmp, StatusType *status_data)
void	read_muscle_driver_data (boost::ptr_vector< shadow_joints::MuscleDriver >::iterator muscle_driver_tmp, StatusType *status_data)
virtual shadow_joints::CalibrationMap	read_pressure_calibration ()
void	set_muscle_driver_data_received_flags (unsigned int msg_type, int muscle_driver_id)
void	set_valve_demand (uint8_t *muscle_data_byte_to_set, int8_t valve_value, uint8_t shifting_index)
Protected Attributes
ros::Timer	check_init_timeout_timer
std::map< unsigned int, unsigned int >	from_muscle_driver_data_received_flags_
ros::Duration	init_max_duration
boost::shared_ptr< boost::mutex >	lock_init_timeout_
	A mutual exclusion object to ensure that the intitialization timeout event does work without threading issues.
boost::ptr_vector < shadow_joints::MuscleDriver >	muscle_drivers_vector_
std::vector < generic_updater::UpdateConfig >	muscle_update_rate_configs_vector
	The update rate for each muscle information.
boost::shared_ptr < generic_updater::MuscleUpdater < CommandType > >	muscle_updater_
shadow_joints::CalibrationMap	pressure_calibration_map_
	The map used to calibrate each pressure sensor.
boost::shared_ptr < shadow_robot::JointCalibration >	pressure_calibration_tmp_
	A temporary calibration for a given joint.
std::queue< short, std::list < short > >	reset_muscle_driver_queue
	contains a queue of muscle driver indexes to reset
Static Protected Attributes
static const double	timeout = 5.0

Detailed Description

template<class StatusType, class CommandType>
class shadow_robot::SrMuscleRobotLib< StatusType, CommandType >

Definition at line 40 of file sr_muscle_robot_lib.hpp.

Constructor & Destructor Documentation

template<class StatusType , class CommandType >

shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::SrMuscleRobotLib ( pr2_hardware_interface::HardwareInterface * hw )

Definition at line 48 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

virtual shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::~SrMuscleRobotLib ( ) [inline, virtual]

Definition at line 44 of file sr_muscle_robot_lib.hpp.

Member Function Documentation

template<class StatusType , class CommandType >

void shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::add_diagnostics	(	std::vector< diagnostic_msgs::DiagnosticStatus > &	vec,
		diagnostic_updater::DiagnosticStatusWrapper &	d
	)		`[virtual]`

This function adds the diagnostics for the hand to the multi diagnostic status published in sr06.cpp.

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Definition at line 326 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

void shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::build_command ( CommandType * command ) [virtual]

Builds a motor command: either send a torque demand or a configuration demand if one is waiting.

Parameters:

command The command we're building.

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Definition at line 169 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

bool shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::check_muscle_driver_data_received_flags ( ) [inline, protected]

Definition at line 715 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

unsigned int shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::get_muscle_pressure	(	int	muscle_driver_id,
		int	muscle_id,
		StatusType *	status_data
	)		`[protected]`

Decodes the pressure data for a certain muscle in a certain muscle driver from the status data structure

Definition at line 568 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

std::vector< std::pair< std::string, bool > > shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::humanize_flags ( int flag ) [protected]

Transforms the incoming flag as a human readable vector of strings.

Parameters:

flag	incoming flag.

Returns:: human readable flags.

Definition at line 728 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

void shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::init_timer_callback ( const ros::TimerEvent & event ) [protected]

Calback for the timer that controls the timeout for the muscle initialization period

Definition at line 768 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

virtual void shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::initialize	(	std::vector< std::string >	joint_names,
		std::vector< int >	actuator_ids,
		std::vector< shadow_joints::JointToSensor >	joint_to_sensors,
		std::vector< sr_actuator::SrGenericActuator * >	actuators
	)		`[protected, pure virtual]`

Initializes the hand library with the needed values.

Parameters:

joint_names	A vector containing all the joint names.
actuator_ids	A vector containing the corresponding actuator 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< StatusType, CommandType >.

Implemented in shadow_robot::SrMuscleHandLib< StatusType, CommandType >.

template<class StatusType , class CommandType >

void shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::read_additional_muscle_data	(	boost::ptr_vector< shadow_joints::Joint >::iterator	joint_tmp,
		StatusType *	status_data
	)		`[protected]`

Read additional data from the latest message and stores it into the joints_vector.

Parameters:

joint_tmp	The joint we want to read the data for.
status_data	The status information that comes from the robot

Definition at line 448 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

void shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::read_muscle_driver_data	(	boost::ptr_vector< shadow_joints::MuscleDriver >::iterator	muscle_driver_tmp,
		StatusType *	status_data
	)		`[protected]`

Read additional data from the latest message and stores it into the joints_vector.

Parameters:

muscle_driver_tmp	The muscle we want to read the data for.
status_data	The status information that comes from the robot

Definition at line 622 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

shadow_joints::CalibrationMap shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::read_pressure_calibration ( ) [protected, virtual]

Reads the calibration from the parameter server.

Returns:: a calibration map

Definition at line 70 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

void shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::reinitialize_motors ( )

Initiates the process to retrieve the initialization information from the motors

Definition at line 752 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

void shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::set_muscle_driver_data_received_flags	(	unsigned int	msg_type,
		int	muscle_driver_id
	)		`[inline, protected]`

Definition at line 702 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

void shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::set_valve_demand	(	uint8_t *	muscle_data_byte_to_set,
		int8_t	valve_value,
		uint8_t	shifting_index
	)		`[inline, protected]`

Encodes the required valve value in a 4 bit 2's complement format, and writes it in the most significant or less significant half of the pointed byte (muscle_data_byte_to_set) depending on the value of shifting_index.

Parameters:

muscle_data_byte_to_set	pointer to the byte where we want to write the result
valve_value	the integer value of the valve demand
shifting_index	if 0, valve is written on the 4 MSB of muscle_data_byte_to_set, if 1 on the 4 LSB

Definition at line 296 of file sr_muscle_robot_lib.cpp.

template<class StatusType , class CommandType >

void shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::update ( StatusType * status_data ) [virtual]

This function is called each time a new etherCAT message is received in the sr06.cpp driver. It updates the joints_vector, updating the different values, computing the calibrated joint positions, etc... It also updates the tactile sensors values.

Parameters:

status_data the received etherCAT message

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Definition at line 113 of file sr_muscle_robot_lib.cpp.

Member Data Documentation

template<class StatusType , class CommandType >

ros::Timer shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::check_init_timeout_timer [protected]

Definition at line 190 of file sr_muscle_robot_lib.hpp.

template<class StatusType , class CommandType >

std::map<unsigned int, unsigned int> shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::from_muscle_driver_data_received_flags_ [protected]

A vector to store information about a certain message from the muscle driver. First in the pair is FROM_MUSCLE_DATA_TYPE second in the pair is a bit mask where the bit in position id_muscle_driver tells if this data has been received from that muscle driver It will only contain those FROM_MUSCLE_DATA_TYPE that are considered as initialization parameters

Definition at line 187 of file sr_muscle_robot_lib.hpp.

template<class StatusType , class CommandType >

ros::Duration shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::init_max_duration [protected]

Definition at line 192 of file sr_muscle_robot_lib.hpp.

template<class StatusType , class CommandType >

boost::shared_ptr<boost::mutex> shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::lock_init_timeout_ [protected]

A mutual exclusion object to ensure that the intitialization timeout event does work without threading issues.

Definition at line 195 of file sr_muscle_robot_lib.hpp.

template<class StatusType , class CommandType >

operation_mode::device_update_state::DeviceUpdateState shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::muscle_current_state

Current update state of the motor (initialization, operation..)

Definition at line 78 of file sr_muscle_robot_lib.hpp.

template<class StatusType , class CommandType >

boost::ptr_vector<shadow_joints::MuscleDriver> shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::muscle_drivers_vector_ [protected]

Definition at line 162 of file sr_muscle_robot_lib.hpp.

template<class StatusType , class CommandType >

std::vector<generic_updater::UpdateConfig> shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::muscle_update_rate_configs_vector [protected]

The update rate for each muscle information.

Definition at line 179 of file sr_muscle_robot_lib.hpp.

template<class StatusType , class CommandType >

boost::shared_ptr<generic_updater::MuscleUpdater<CommandType> > shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::muscle_updater_ [protected]

The motor updater is used to create a correct command to send to the motor. It's build_command() is called each time the SR06::packCommand() is called.

Definition at line 170 of file sr_muscle_robot_lib.hpp.

template<class StatusType , class CommandType >

shadow_joints::CalibrationMap shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::pressure_calibration_map_ [protected]

The map used to calibrate each pressure sensor.

Definition at line 96 of file sr_muscle_robot_lib.hpp.

template<class StatusType , class CommandType >

boost::shared_ptr<shadow_robot::JointCalibration> shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::pressure_calibration_tmp_ [protected]

A temporary calibration for a given joint.

Definition at line 98 of file sr_muscle_robot_lib.hpp.

template<class StatusType , class CommandType >

std::queue<short, std::list<short> > shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::reset_muscle_driver_queue [protected]

contains a queue of muscle driver indexes to reset

Definition at line 174 of file sr_muscle_robot_lib.hpp.

template<class StatusType , class CommandType >

const double shadow_robot::SrMuscleRobotLib< StatusType, CommandType >::timeout = 5.0 [static, protected]

Definition at line 191 of file sr_muscle_robot_lib.hpp.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

template<class StatusType, class CommandType> class shadow_robot::SrMuscleRobotLib< StatusType, CommandType >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class StatusType, class CommandType>
class shadow_robot::SrMuscleRobotLib< StatusType, CommandType >