#include <real_arm.h>

Inheritance diagram for shadowrobot::RealArm:

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)
	RealArm ()
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	~RealArm ()
Protected Member Functions
void	initializeMap ()

Detailed Description

Definition at line 36 of file real_arm.h.

Constructor & Destructor Documentation

shadowrobot::RealArm::RealArm ( )

Initializes the necessary mappings with a static list of names.

Definition at line 37 of file real_arm.cpp.

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

Definition at line 59 of file real_arm.cpp.

Member Function Documentation

SRArticulatedRobot::JointsMap shadowrobot::RealArm::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 153 of file real_arm.cpp.

void shadowrobot::RealArm::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 184 of file real_arm.cpp.

JointControllerData shadowrobot::RealArm::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 171 of file real_arm.cpp.

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

Get diagnostic information from the robot.

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

Implements shadowrobot::SRArticulatedRobot.

Definition at line 189 of file real_arm.cpp.

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

Reads the data from the robot.

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 118 of file real_arm.cpp.

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

Initialise a mapping for the joints.

Definition at line 63 of file real_arm.cpp.

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

This function will set the target of the object to the given angle and send it to the robot.

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 88 of file real_arm.cpp.

short shadowrobot::RealArm::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 178 of file real_arm.cpp.

short shadowrobot::RealArm::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 165 of file real_arm.cpp.

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

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation