This compatibility interface is a wrapper around the new etherCAT Hand ROS driver. It is used to present the same interface as the CAN hand. More...

#include <etherCAT_compatibility_hand.hpp>

Inheritance diagram for shadowrobot::EtherCATCompatibilityHand:

[legend]

List of all members.

Public Member Functions
	EtherCATCompatibilityHand ()
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)
virtual	~EtherCATCompatibilityHand ()
Protected Member Functions
std::string	findControllerTopicName (std::string joint_name)
void	initializeMap ()
void	joint_states_callback (const sensor_msgs::JointStateConstPtr &msg)
Protected Attributes
std::vector< ros::Publisher >	etherCAT_publishers
	This vector stores publishers to each joint controller.
ros::Subscriber	joint_state_subscriber
	a subscriber for the /joint_states topic.
ros::NodeHandle	n_tilde
ros::NodeHandle	node

Detailed Description

This compatibility interface is a wrapper around the new etherCAT Hand ROS driver. It is used to present the same interface as the CAN hand.

Definition at line 45 of file etherCAT_compatibility_hand.hpp.

Constructor & Destructor Documentation

ROS_DEPRECATED shadowrobot::EtherCATCompatibilityHand::EtherCATCompatibilityHand ( )

Initializes the necessary mappings with a static list of names.

Definition at line 39 of file etherCAT_compatibility_hand.cpp.

shadowrobot::EtherCATCompatibilityHand::~EtherCATCompatibilityHand ( ) [virtual]

Definition at line 50 of file etherCAT_compatibility_hand.cpp.

Member Function Documentation

std::string shadowrobot::EtherCATCompatibilityHand::findControllerTopicName ( std::string joint_name ) [protected]

Finds the controller suffix to use for a certain joint based on listening to the controller state for that joint. mixed_position_velocity_controller and position_controller are checked. If none of them is sending messages, the "controller_suffix" parameter is used

Full controller command topic name is returned

Definition at line 228 of file etherCAT_compatibility_hand.cpp.

SRArticulatedRobot::JointsMap shadowrobot::EtherCATCompatibilityHand::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 321 of file etherCAT_compatibility_hand.cpp.

void shadowrobot::EtherCATCompatibilityHand::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 345 of file etherCAT_compatibility_hand.cpp.

JointControllerData shadowrobot::EtherCATCompatibilityHand::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 332 of file etherCAT_compatibility_hand.cpp.

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

Not used in this interface: the diagnostics are published directly by the EtherCAT hand driver.

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

Implements shadowrobot::SRArticulatedRobot.

Definition at line 350 of file etherCAT_compatibility_hand.cpp.

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

Returns the last data we received for the given joint.

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 299 of file etherCAT_compatibility_hand.cpp.

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

Initialize a mapping for the joints and the publishers.

Definition at line 54 of file etherCAT_compatibility_hand.cpp.

void shadowrobot::EtherCATCompatibilityHand::joint_states_callback ( const sensor_msgs::JointStateConstPtr & msg ) [protected]

This callback is called each time a joint state message is received. We Update the internal joint map when we receive this message.

Parameters:

msg	the joint state message.

Definition at line 356 of file etherCAT_compatibility_hand.cpp.

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

This function will send the targets to the correct controllers.

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 262 of file etherCAT_compatibility_hand.cpp.

short shadowrobot::EtherCATCompatibilityHand::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 339 of file etherCAT_compatibility_hand.cpp.

short shadowrobot::EtherCATCompatibilityHand::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 326 of file etherCAT_compatibility_hand.cpp.

Member Data Documentation

std::vector< ros::Publisher > shadowrobot::EtherCATCompatibilityHand::etherCAT_publishers [protected]

This vector stores publishers to each joint controller.

Definition at line 113 of file etherCAT_compatibility_hand.hpp.

ros::Subscriber shadowrobot::EtherCATCompatibilityHand::joint_state_subscriber [protected]

a subscriber for the /joint_states topic.

Definition at line 116 of file etherCAT_compatibility_hand.hpp.

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

Definition at line 87 of file etherCAT_compatibility_hand.hpp.

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

Definition at line 87 of file etherCAT_compatibility_hand.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation