Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes
shadowrobot::HandCommander Class Reference

#include <hand_commander.hpp>

List of all members.

Public Member Functions

std::vector< std::string > get_all_joints ()
std::string get_controller_state_topic (std::string joint_name)
std::pair< double, double > get_min_max (std::string joint_name)
 HandCommander (const std::string &ns="")
void sendCommands (std::vector< sr_robot_msgs::joint > joint_vector)
 ~HandCommander ()

Private Member Functions

void initializeEthercatHand ()

Private Attributes

std::map< std::string,
boost::shared_ptr< urdf::Joint > > 
 stores data about the hand (read from urdf)
bool ethercat_controllers_found
shadowhandRosLib::HandType hand_type
NodeHandle node_
 ros node handle
std::map< std::string,
std::string > 
 A map of topics for the controller states.
Publisher sr_hand_target_pub
 Publisher for the CAN hand targets.
boost::ptr_map< std::string,
 Publishers for the ethercat hand targets for every joint.

Static Private Attributes


Detailed Description

This ROS subscriber is used to issue commands to the hand / arm, from sending a set of targets, to changing the controller parameters.

Definition at line 60 of file hand_commander.hpp.

Constructor & Destructor Documentation

shadowrobot::HandCommander::HandCommander ( const std::string &  ns = "")

Definition at line 41 of file hand_commander.cpp.


Definition at line 81 of file hand_commander.cpp.

Member Function Documentation

std::vector< std::string > shadowrobot::HandCommander::get_all_joints ( )

Get all the joint names from the robot description. Ideal for looping over all joints.

A vector of joint names.

Definition at line 183 of file hand_commander.cpp.

std::string shadowrobot::HandCommander::get_controller_state_topic ( std::string  joint_name)

Returns the topic name for the controller state of a given joint. Useful for easily subscribing to the corresponding state topic in another node.

joint_namethe joint for which you want the topic.
the full name (fully resolved) of the topic to which you need to subscribe.

Definition at line 200 of file hand_commander.cpp.

std::pair< double, double > shadowrobot::HandCommander::get_min_max ( std::string  joint_name)

Reads the min and max for a given joint from the urdf description.

joint_namename of the joint (upper or lower case) (e.g. FFJ3)
a pair containing first the min then the max for the given joint.

Definition at line 142 of file hand_commander.cpp.

init function for the ethercat hand It can be called if we know that there's an ethercat hand (pr2_controller_manager running)

Definition at line 85 of file hand_commander.cpp.

void shadowrobot::HandCommander::sendCommands ( std::vector< sr_robot_msgs::joint >  joint_vector)

Definition at line 113 of file hand_commander.cpp.

Member Data Documentation

std::map<std::string, boost::shared_ptr<urdf::Joint> > shadowrobot::HandCommander::all_joints [private]

stores data about the hand (read from urdf)

Definition at line 102 of file hand_commander.hpp.

Definition at line 113 of file hand_commander.hpp.

Definition at line 112 of file hand_commander.hpp.

ros node handle

Definition at line 99 of file hand_commander.hpp.

std::map<std::string, std::string> shadowrobot::HandCommander::sr_hand_sub_topics [private]

A map of topics for the controller states.

Definition at line 110 of file hand_commander.hpp.

Publisher for the CAN hand targets.

Definition at line 105 of file hand_commander.hpp.

boost::ptr_map<std::string,Publisher> shadowrobot::HandCommander::sr_hand_target_pub_map [private]

Publishers for the ethercat hand targets for every joint.

Definition at line 107 of file hand_commander.hpp.

Definition at line 121 of file hand_commander.hpp.

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

Author(s): Ugo Cupcic
autogenerated on Fri Aug 28 2015 13:08:52