#include <sr_muscle_hand_lib.hpp>
Inheritance diagram for shadow_robot::SrMuscleHandLib< StatusType, CommandType >:
Public Member Functions | |
| bool | reset_muscle_driver_callback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response, int muscle_driver_index) |
| SrMuscleHandLib (pr2_hardware_interface::HardwareInterface *hw) | |
| ~SrMuscleHandLib () | |
Protected Member Functions | |
| 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) |
| void | initialize (std::vector< std::string > joint_names, std::vector< shadow_joints::JointToMuscle > actuator_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors, std::vector< sr_actuator::SrGenericActuator * > actuators) |
Private Member Functions | |
| std::vector < shadow_joints::JointToMuscle > | read_joint_to_muscle_mapping () |
Private Attributes | |
| ros::ServiceServer | debug_service |
| a service server for reconfiguring the debug data we want to publish | |
Static Private Attributes | |
| static const char * | human_readable_muscle_data_types [] |
| static const int32u | muscle_data_types [] |
| static const int | nb_muscle_data = 3 |
Detailed Description
template<class StatusType, class CommandType>
class shadow_robot::SrMuscleHandLib< StatusType, CommandType >
Definition at line 42 of file sr_muscle_hand_lib.hpp.
Constructor & Destructor Documentation
template<class StatusType , class CommandType >
| shadow_robot::SrMuscleHandLib< StatusType, CommandType >::SrMuscleHandLib | ( | pr2_hardware_interface::HardwareInterface * | hw | ) |
Definition at line 54 of file sr_muscle_hand_lib.cpp.
template<class StatusType , class CommandType >
| shadow_robot::SrMuscleHandLib< StatusType, CommandType >::~SrMuscleHandLib | ( | ) |
Definition at line 123 of file sr_muscle_hand_lib.cpp.
Member Function Documentation
template<class StatusType , class CommandType >
| void shadow_robot::SrMuscleHandLib< 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, 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::SrMuscleRobotLib< StatusType, CommandType >.
Definition at line 133 of file sr_muscle_hand_lib.cpp.
template<class StatusType , class CommandType >
| void shadow_robot::SrMuscleHandLib< StatusType, CommandType >::initialize | ( | std::vector< std::string > | joint_names, |
| std::vector< shadow_joints::JointToMuscle > | actuator_ids, | ||
| std::vector< shadow_joints::JointToSensor > | joint_to_sensors, | ||
| std::vector< sr_actuator::SrGenericActuator * > | actuators | ||
| ) | [protected] |
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.
Definition at line 142 of file sr_muscle_hand_lib.cpp.
template<class StatusType , class CommandType >
| std::vector< shadow_joints::JointToMuscle > shadow_robot::SrMuscleHandLib< StatusType, CommandType >::read_joint_to_muscle_mapping | ( | ) | [private] |
Reads the mapping associating a joint to a muscle. If the muscle index is -1, then no muscle is associated to this joint.
- Returns:
- a vector of JointToMuscle structures (containing the indexes of the muscles for the joint), ordered by joint.
Definition at line 188 of file sr_muscle_hand_lib.cpp.
template<class StatusType , class CommandType >
| bool shadow_robot::SrMuscleHandLib< StatusType, CommandType >::reset_muscle_driver_callback | ( | std_srvs::Empty::Request & | request, |
| std_srvs::Empty::Response & | response, | ||
| int | muscle_driver_index | ||
| ) |
Reset the muscle driver at motor index.
- Parameters:
-
request empty response empty muscle_driver_index The index of the muscle driver we're resetting
- Returns:
- true if success
Definition at line 175 of file sr_muscle_hand_lib.cpp.
Member Data Documentation
template<class StatusType , class CommandType >
ros::ServiceServer shadow_robot::SrMuscleHandLib< StatusType, CommandType >::debug_service [private] |
a service server for reconfiguring the debug data we want to publish
Definition at line 119 of file sr_muscle_hand_lib.hpp.
template<class StatusType , class CommandType >
const char * shadow_robot::SrMuscleHandLib< StatusType, CommandType >::human_readable_muscle_data_types [static, private] |
Initial value:
{"muscle_data_pressure",
"muscle_data_can_stats",
"muscle_data_slow_misc"}
Definition at line 115 of file sr_muscle_hand_lib.hpp.
template<class StatusType , class CommandType >
const int32u shadow_robot::SrMuscleHandLib< StatusType, CommandType >::muscle_data_types [static, private] |
Initial value:
{MUSCLE_DATA_PRESSURE,
MUSCLE_DATA_CAN_STATS,
MUSCLE_DATA_SLOW_MISC}
Definition at line 116 of file sr_muscle_hand_lib.hpp.
template<class StatusType , class CommandType >
const int shadow_robot::SrMuscleHandLib< StatusType, CommandType >::nb_muscle_data = 3 [static, private] |
Definition at line 114 of file sr_muscle_hand_lib.hpp.
The documentation for this class was generated from the following files: