shadowrobot Namespace Reference

Classes
class	CANCompatibilityArm
	This compatibility interface is a wrapper around the new CAN Hand ROS driver. It is used to present the same interface as the CAN hand. More...
struct	DiagnosticData
class	EtherCATCompatibilityHand
	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...
class	HandCommander
struct	JointControllerData
struct	JointData
struct	Parameters
class	RealArm
class	RealShadowhand
class	SRArticulatedRobot
	This is a parent class for the different types of Shadowhand we can have. It makes it possible to swap from a virtual to a real hand while using the same utilities to interact with the hand. One (or more) ROS subscriber and publisher can then share the same instance of a Shadowhand object to update the information contained in this object. More...
class	SRDiagnosticer
class	SRPublisher
class	SRSubscriber
class	Valves
class	VirtualArm
class	VirtualShadowhand
	The Virtual Shadowhand can be used as a simulator. As both the real hand and the virtual hand are children from the shadowhand class, using a virtual or a real hand doesn't change anything in the way you call them in your programs. More...
class	VirtualShadowhandLibrary
Enumerations
enum	controller_parameters {   PARAM_sensor, PARAM_target, PARAM_valve, PARAM_deadband,   PARAM_p, PARAM_i, PARAM_d, PARAM_imax,   PARAM_output_offset, PARAM_shift, PARAM_output_max, PARAM_motor_maxforce,   PARAM_motor_safeforce, PARAM_force_p, PARAM_force_i, PARAM_force_d,   PARAM_force_imax, PARAM_force_out_shift, PARAM_force_deadband, PARAM_force_offset,   PARAM_sensor_imax, PARAM_sensor_out_shift, PARAM_sensor_deadband, PARAM_sensor_offset,   PARAM_max_temperature, PARAM_max_current, PARAM_type_of_sensor, PARAM_type_of_setpoint }
enum	hardware_types { sr_hand_hardware, sr_arm_hardware }
	An enum containing the different types of hardware the diagnosticer is publishing data about. More...

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Enumeration Type Documentation

enum shadowrobot::controller_parameters

An enum containing all the different types of parameters for the controllers.

Enumerator:

PARAM_sensor	select the sensor that is being controller
PARAM_target	select the sensor to read the setpoint from
PARAM_valve	select which valve is being controlled, if appropriate
PARAM_deadband	select the deadband value, if appropriate (actual deadband used is )
PARAM_p	change the proportional gain
PARAM_i	change the integral gain
PARAM_d	change the derivative gain
PARAM_imax	PARAM_imax.
PARAM_output_offset	PARAM_output_offset.
PARAM_shift	PARAM_shift.
PARAM_output_max	PARAM_output_max.
PARAM_motor_maxforce	PARAM_motor_maxforce.
PARAM_motor_safeforce	PARAM_motor_safeforce.
PARAM_force_p	PARAM_force_p.
PARAM_force_i	PARAM_force_i.
PARAM_force_d	PARAM_force_d.
PARAM_force_imax	PARAM_force_imax.
PARAM_force_out_shift	PARAM_force_out_shift.
PARAM_force_deadband	PARAM_force_deadband.
PARAM_force_offset	PARAM_force_offset.
PARAM_sensor_imax	PARAM_sensor_imax.
PARAM_sensor_out_shift	PARAM_sensor_out_shift.
PARAM_sensor_deadband	PARAM_sensor_deadband.
PARAM_sensor_offset	PARAM_sensor_offset.
PARAM_max_temperature	PARAM_max_temperature.
PARAM_max_current	PARAM_max_current.
PARAM_type_of_sensor	PARAM_type_of_sensor.
PARAM_type_of_setpoint	PARAM_type_of_setpoint.

Definition at line 125 of file sr_articulated_robot.h.

enum shadowrobot::hardware_types

An enum containing the different types of hardware the diagnosticer is publishing data about.

The Diagnosticer is a ROS publisher which publishes diagnostic data regarding the Dextrous Hand or the Shadow Arm, on the \/diagnostics topic. The diagnostics can be viewed using the robot_monitor package.

To view the diagnostics, just rosmake robot_monitor, and then rosrun robot_monitor robot_monitor.

Enumerator:

sr_hand_hardware	the Dextrous Hand
sr_arm_hardware	the Shadow Arm

Definition at line 52 of file sr_diagnosticer.h.