#include <sr_robot_lib.hpp>

Inheritance diagram for shadow_robot::SrRobotLib< StatusType, CommandType >:

Public Member Functions
virtual void	add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)=0
virtual void	build_command (CommandType *command)=0
void	build_tactile_command (CommandType *command)
bool	nullify_demand_callback (sr_robot_msgs::NullifyDemand::Request &request, sr_robot_msgs::NullifyDemand::Response &response)
void	reinitialize_sensors ()
	SrRobotLib (pr2_hardware_interface::HardwareInterface *hw)
virtual void	update (StatusType *status_data)=0
void	update_tactile_info (StatusType *status)
virtual	~SrRobotLib ()
Public Attributes
shadow_joints::CalibrationMap	calibration_map
	The map used to calibrate each joint.
int	main_pic_idle_time
int	main_pic_idle_time_min
operation_mode::device_update_state::DeviceUpdateState	tactile_current_state
	Current update state of the sensors (initialization, operation..)
boost::shared_ptr < tactiles::GenericTactiles < StatusType, CommandType > >	tactiles
boost::shared_ptr < tactiles::GenericTactiles < StatusType, CommandType > >	tactiles_init
Protected Member Functions
void	calibrate_joint (boost::ptr_vector< shadow_joints::Joint >::iterator joint_tmp, StatusType *status_data)
void	checkSelfTests ()
	It is run in a separate thread and calls the checkTests() method of the self_tests_. This avoids the tests blocking the main thread.
sr_actuator::SrActuatorState *	get_joint_actuator_state (boost::ptr_vector< shadow_joints::Joint >::iterator joint_tmp)
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)=0
void	process_position_sensor_data (boost::ptr_vector< shadow_joints::Joint >::iterator joint_tmp, StatusType *status_data, double timestamp)
shadow_joints::CalibrationMap	read_joint_calibration ()
std::vector < shadow_joints::JointToSensor >	read_joint_to_sensor_mapping ()
std::vector < generic_updater::UpdateConfig >	read_update_rate_configs (std::string base_param, int nb_data_defined, const char *human_readable_data_types[], const int32u data_types[])
Protected Attributes
std::vector < generic_updater::UpdateConfig >	biotac_sensor_update_rate_configs_vector
	The update rate for each sensor information type.
boost::shared_ptr < shadow_robot::JointCalibration >	calibration_tmp
	A temporary calibration for a given joint.
std::vector < generic_updater::UpdateConfig >	generic_sensor_update_rate_configs_vector
	The update rate for each sensor information type.
boost::ptr_vector < shadow_joints::Joint >	joints_vector
	The vector containing all the robot joints.
ros::NodeHandle	nh_tilde
	a ROS nodehandle (private naming, only inside the node namespace) to be able to advertise the Force PID service
ros::NodeHandle	nodehandle_
	a ros nodehandle to be able to access resources out of the node namespace
bool	nullify_demand_
	True if we want to set the demand to 0 (stop the controllers)
ros::ServiceServer	nullify_demand_server_
	The ROS service handler for nullifying the demand.
std::vector < generic_updater::UpdateConfig >	pst3_sensor_update_rate_configs_vector
	The update rate for each sensor information type.
boost::shared_ptr< boost::thread >	self_test_thread_
	Thread for running the tests in parallel when doing the tests on real hand.
boost::shared_ptr< SrSelfTest >	self_tests_
std::vector < generic_updater::UpdateConfig >	ubi0_sensor_update_rate_configs_vector
	The update rate for each sensor information type.
Static Protected Attributes
static const char *	human_readable_sensor_data_types []
static const int	nb_sensor_data = 32
static const int32u	sensor_data_types []

Detailed Description

template<class StatusType, class CommandType>
class shadow_robot::SrRobotLib< StatusType, CommandType >

Definition at line 90 of file sr_robot_lib.hpp.

Constructor & Destructor Documentation

template<class StatusType , class CommandType >

shadow_robot::SrRobotLib< StatusType, CommandType >::SrRobotLib ( pr2_hardware_interface::HardwareInterface * hw )

Definition at line 127 of file sr_robot_lib.cpp.

template<class StatusType, class CommandType>

virtual shadow_robot::SrRobotLib< StatusType, CommandType >::~SrRobotLib ( ) [inline, virtual]

Definition at line 94 of file sr_robot_lib.hpp.

Member Function Documentation

template<class StatusType, class CommandType>

virtual void shadow_robot::SrRobotLib< StatusType, CommandType >::add_diagnostics	(	std::vector< diagnostic_msgs::DiagnosticStatus > &	vec,
		diagnostic_updater::DiagnosticStatusWrapper &	d
	)		`[pure virtual]`

This function adds the diagnostics for the hand to the multi diagnostic status published in sr06.cpp.

Implemented in shadow_robot::SrMotorRobotLib< StatusType, CommandType >, shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >, and shadow_robot::SrMuscleRobotLib< StatusType, CommandType >.

template<class StatusType, class CommandType>

virtual void shadow_robot::SrRobotLib< StatusType, CommandType >::build_command ( CommandType * command ) [pure virtual]

Builds a command for the robot.

Parameters:

command The command we're building.

Implemented in shadow_robot::SrMotorRobotLib< StatusType, CommandType >, shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >, and shadow_robot::SrMuscleRobotLib< StatusType, CommandType >.

template<class StatusType , class CommandType>

void shadow_robot::SrRobotLib< StatusType, CommandType >::build_tactile_command ( CommandType * command )

Builds a command to demand information form the tactile sensors.

Parameters:

command The command we're building.

Definition at line 283 of file sr_robot_lib.cpp.

template<class StatusType, class CommandType >

void shadow_robot::SrRobotLib< StatusType, CommandType >::calibrate_joint	(	boost::ptr_vector< shadow_joints::Joint >::iterator	joint_tmp,
		StatusType *	status_data
	)		`[protected]`

Compute the calibrated position for the given joint. This method is called from the update method, each time a new message is received.

Parameters:

joint_tmp	The joint we want to calibrate.
status_data	The status information that comes from the robot

Definition at line 156 of file sr_robot_lib.cpp.

template<class StatusType , class CommandType >

void shadow_robot::SrRobotLib< StatusType, CommandType >::checkSelfTests ( ) [protected]

It is run in a separate thread and calls the checkTests() method of the self_tests_. This avoids the tests blocking the main thread.

Definition at line 483 of file sr_robot_lib.cpp.

template<class StatusType , class CommandType >

sr_actuator::SrActuatorState * shadow_robot::SrRobotLib< StatusType, CommandType >::get_joint_actuator_state ( boost::ptr_vector< shadow_joints::Joint >::iterator joint_tmp ) [protected]

Returns a pointer to the actuator state for a certain joint. It checks the actuator type before accessing the state_ field, to avoid accessing the base class state_ field which is not what we want

Parameters:

joint_tmp The joint we want to get the actuator state from.

Returns:: a pointer to the actuator state

Definition at line 261 of file sr_robot_lib.cpp.

template<class StatusType, class CommandType>

virtual void shadow_robot::SrRobotLib< 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, pure 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.

Implemented in shadow_robot::SrMotorHandLib< StatusType, CommandType >, shadow_robot::SrMotorHandLib< STATUS_TYPE, COMMAND_TYPE >, shadow_robot::SrMotorRobotLib< StatusType, CommandType >, shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >, shadow_robot::SrMuscleRobotLib< StatusType, CommandType >, and shadow_robot::SrMuscleHandLib< StatusType, CommandType >.

template<class StatusType , class CommandType >

bool shadow_robot::SrRobotLib< StatusType, CommandType >::nullify_demand_callback	(	sr_robot_msgs::NullifyDemand::Request &	request,
		sr_robot_msgs::NullifyDemand::Response &	response
	)

This service is used to nullify the demand of the etherCAT hand. If the nullify_demand parameter is set to True, the demand sent to the robot will be 0, regardless of the computed effort demanded by the controller. If set to False, then the demand computed by the controllers will be sent to the motors.

Parameters:

request	contains the nullify_demand parameter
response	empty

Returns:: always true as it can't fail

Definition at line 228 of file sr_robot_lib.cpp.

template<class StatusType, class CommandType >

void shadow_robot::SrRobotLib< StatusType, CommandType >::process_position_sensor_data	(	boost::ptr_vector< shadow_joints::Joint >::iterator	joint_tmp,
		StatusType *	status_data,
		double	timestamp
	)		`[protected]`

Calibrates and filters the position information (and computes velocity) for a give joint. This method is called from the update method, each time a new message is received.

Parameters:

joint_tmp	The joint we process data from.
status_data	The status information that comes from the robot
timestamp	Timestamp of the data acquisition time

Definition at line 241 of file sr_robot_lib.cpp.

template<class StatusType , class CommandType >

shadow_joints::CalibrationMap shadow_robot::SrRobotLib< StatusType, CommandType >::read_joint_calibration ( ) [protected]

Reads the calibration from the parameter server.

Returns:: a calibration map

Definition at line 348 of file sr_robot_lib.cpp.

template<class StatusType , class CommandType >

std::vector< shadow_joints::JointToSensor > shadow_robot::SrRobotLib< StatusType, CommandType >::read_joint_to_sensor_mapping ( ) [protected]

Reads the mapping between the sensors and the joints from the parameter server.

Returns:: a vector (size of the number of joints) containing vectors (containing the sensors which are combined to form a given joint)

Definition at line 390 of file sr_robot_lib.cpp.

template<class StatusType , class CommandType >

std::vector< generic_updater::UpdateConfig > shadow_robot::SrRobotLib< StatusType, CommandType >::read_update_rate_configs	(	std::string	base_param,
		int	nb_data_defined,
		const char *	human_readable_data_types[],
		const int32u	data_types[]
	)		`[protected]`

Simply reads the config from the parameter server.

Parameters:

base_param	string with the base name of the set of parameters to apply (found in the yaml file)
nb_data_defined	number of data defined in the typedef
human_readable_data_types	names of the types of messages (must match with those in the yaml file)
data_types	the command values corresponding to every one of the names

Returns:: A vector of UpdateConfig containing the type of data and the frequency at which we want to poll this data

Definition at line 447 of file sr_robot_lib.cpp.

template<class StatusType , class CommandType >

void shadow_robot::SrRobotLib< StatusType, CommandType >::reinitialize_sensors ( )

Initiates the process to retrieve the initialization information from the sensors

Definition at line 220 of file sr_robot_lib.cpp.

template<class StatusType, class CommandType>

virtual void shadow_robot::SrRobotLib< StatusType, CommandType >::update ( StatusType * status_data ) [pure virtual]

This function is called each time a new etherCAT message is received in the sr06.cpp driver. It updates the joints_vector, updating the different values, computing the calibrated joint positions, etc... It also updates the tactile sensors values.

Parameters:

status_data the received etherCAT message

Implemented in shadow_robot::SrMotorRobotLib< StatusType, CommandType >, shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >, and shadow_robot::SrMuscleRobotLib< StatusType, CommandType >.

template<class StatusType, class CommandType >

void shadow_robot::SrRobotLib< StatusType, CommandType >::update_tactile_info ( StatusType * status )

Reads the tactile information.

Parameters:

status The status information that comes from the robot

Definition at line 333 of file sr_robot_lib.cpp.

Member Data Documentation

template<class StatusType, class CommandType>

std::vector<generic_updater::UpdateConfig> shadow_robot::SrRobotLib< StatusType, CommandType >::biotac_sensor_update_rate_configs_vector [protected]

The update rate for each sensor information type.

Definition at line 292 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

shadow_joints::CalibrationMap shadow_robot::SrRobotLib< StatusType, CommandType >::calibration_map

The map used to calibrate each joint.

Definition at line 155 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

boost::shared_ptr<shadow_robot::JointCalibration> shadow_robot::SrRobotLib< StatusType, CommandType >::calibration_tmp [protected]

A temporary calibration for a given joint.

Definition at line 259 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

std::vector<generic_updater::UpdateConfig> shadow_robot::SrRobotLib< StatusType, CommandType >::generic_sensor_update_rate_configs_vector [protected]

The update rate for each sensor information type.

Definition at line 288 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

const char * shadow_robot::SrRobotLib< StatusType, CommandType >::human_readable_sensor_data_types [static, protected]

Definition at line 298 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

boost::ptr_vector<shadow_joints::Joint> shadow_robot::SrRobotLib< StatusType, CommandType >::joints_vector [protected]

The vector containing all the robot joints.

Definition at line 183 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

int shadow_robot::SrRobotLib< StatusType, CommandType >::main_pic_idle_time

Contains the idle time of the PIC communicating via etherCAT with the host.

Definition at line 169 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

int shadow_robot::SrRobotLib< StatusType, CommandType >::main_pic_idle_time_min

Contains the minimum idle time of the PIC communicating via etherCAT with the host, this minimum is reset each time a diagnostic is being published.

Definition at line 176 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

const int shadow_robot::SrRobotLib< StatusType, CommandType >::nb_sensor_data = 32 [static, protected]

Definition at line 297 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

ros::NodeHandle shadow_robot::SrRobotLib< StatusType, CommandType >::nh_tilde [protected]

a ROS nodehandle (private naming, only inside the node namespace) to be able to advertise the Force PID service

Definition at line 263 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

ros::NodeHandle shadow_robot::SrRobotLib< StatusType, CommandType >::nodehandle_ [protected]

a ros nodehandle to be able to access resources out of the node namespace

Definition at line 266 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

bool shadow_robot::SrRobotLib< StatusType, CommandType >::nullify_demand_ [protected]

True if we want to set the demand to 0 (stop the controllers)

Definition at line 303 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

ros::ServiceServer shadow_robot::SrRobotLib< StatusType, CommandType >::nullify_demand_server_ [protected]

The ROS service handler for nullifying the demand.

Definition at line 305 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

std::vector<generic_updater::UpdateConfig> shadow_robot::SrRobotLib< StatusType, CommandType >::pst3_sensor_update_rate_configs_vector [protected]

The update rate for each sensor information type.

Definition at line 290 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

boost::shared_ptr<boost::thread> shadow_robot::SrRobotLib< StatusType, CommandType >::self_test_thread_ [protected]

Thread for running the tests in parallel when doing the tests on real hand.

Definition at line 313 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

boost::shared_ptr<SrSelfTest> shadow_robot::SrRobotLib< StatusType, CommandType >::self_tests_ [protected]

Definition at line 310 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

const int32u shadow_robot::SrRobotLib< StatusType, CommandType >::sensor_data_types [static, protected]

Definition at line 299 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

operation_mode::device_update_state::DeviceUpdateState shadow_robot::SrRobotLib< StatusType, CommandType >::tactile_current_state

Current update state of the sensors (initialization, operation..)

Definition at line 179 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

boost::shared_ptr<tactiles::GenericTactiles<StatusType, CommandType> > shadow_robot::SrRobotLib< StatusType, CommandType >::tactiles

This is a pointer to the tactile object. This pointer will be instanciated during the initialization cycle, depending on the type of sensors attached to the hand.

Definition at line 162 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

boost::shared_ptr<tactiles::GenericTactiles<StatusType, CommandType> > shadow_robot::SrRobotLib< StatusType, CommandType >::tactiles_init

Definition at line 163 of file sr_robot_lib.hpp.

template<class StatusType, class CommandType>

std::vector<generic_updater::UpdateConfig> shadow_robot::SrRobotLib< StatusType, CommandType >::ubi0_sensor_update_rate_configs_vector [protected]

The update rate for each sensor information type.

Definition at line 294 of file sr_robot_lib.hpp.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

template<class StatusType, class CommandType> class shadow_robot::SrRobotLib< StatusType, CommandType >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class StatusType, class CommandType>
class shadow_robot::SrRobotLib< StatusType, CommandType >