This class provides the joint command interface for the fingers. More...

#include <JointCommandFinger.h>

Inheritance diagram for JointCommandFinger< N, NHall >:

Public Member Functions
r2_msgs::JointCapability	getCapability ()
r2_msgs::JointCommand	getCommandedState ()
sensor_msgs::JointState	getCompleteMeasuredState ()
sensor_msgs::JointState	getSimpleMeasuredState ()
	JointCommandFinger (const std::string &mechanism, IoFunctions ioFunctions)
void	loadCoeffs ()
void	setCommand (r2_msgs::JointCommand msg, r2_msgs::JointControlData control)
void	setFaultState ()
void	updateMeasuredState (r2_msgs::JointControlData msg)
	~JointCommandFinger ()
Private Attributes
bool	activeStiffnessOn
FingerController< N, NHall >	controller
FingerController< N, NHall > ::SliderVectorType	desiredSliders
FingerController< N, NHall > ::SliderVectorType	desiredSliderVels
std::vector< double >	effortVals
FingerController< N, NHall > ::SliderVectorType	encoderOffset
boost::array< std::string, N+1 >	encoderOffsetElements
boost::array< std::string, N+1 >	encoderStateElements
FingerController< N, NHall > ::SliderVectorType	encoderVec
FingerController< N, NHall > ::HallVectorType	filteredHallVec
FingerController< N, NHall > ::SliderVectorType	filteredSliderVec
bool	filterInitialized
ros::Duration	fingerBoostCurrentDuration
FingerController< N, NHall > ::SliderVectorType	fingerBoostMotCom
double	fingerBoostTime
ros::Time	fingerBoostTimerStart
boost::array< std::string, NHall >	hallStateElements
FingerController< N, NHall > ::HallVectorType	hallVec
FingerController< N, NHall > ::HallVectorType	hallVecRaw
bool	isLeft
FingerController< N, NHall > ::JointVectorType	jointVec
FingerController< N, NHall > ::SliderVectorType	kTendon
double	kTendonDefault
boost::array< std::string, N+1 >	motComCommandElements
std::string	nameActiveStiffnessOn
std::string	nameCoeffState
boost::array< std::string, N+1 >	nameFingerBoost
std::string	nameFingerBoostTime
std::string	nameIsCalibrated
boost::array< std::string, N+1 >	nameKTendon
std::string	nameUseCartesian
double	positionAlpha
std::vector< double >	positionVals
std::vector< double >	prevPositionVals
FingerController< N, NHall > ::JointVectorType	prevSmoothedPos
FingerController< N, NHall > ::SliderVectorType	sliderMotComs
boost::array< std::string, N+1 >	sliderOffsetElements
boost::array< std::string, N+1 >	sliderTarePosElements
FingerController< N, NHall > ::SliderVectorType	sliderVec
FingerController< N, NHall > ::SliderVectorType	sliderVel
FingerController< N, NHall > ::JointVectorType	smoothedPos
boost::ptr_array < EmbeddedSmoother, N >	smoother
std::vector< std::string > ::iterator	strVecIt
boost::array< std::string, N+1 >	tensionAStateElements
FingerController< N, NHall > ::SliderVectorType	tensionAVec
boost::array< std::string, N+1 >	tensionBStateElements
FingerController< N, NHall > ::SliderVectorType	tensionBVec
double	tensionMin
boost::array< std::string, N+1 >	tensionOffsetElements
FingerController< N, NHall > ::SliderVectorType	tensionVec
double	timestep
bool	tubeTared
bool	useCartesian
std::vector< double >	velocityVals

Detailed Description

template<unsigned int N, unsigned int NHall = N>
class JointCommandFinger< N, NHall >

This class provides the joint command interface for the fingers.

Definition at line 27 of file JointCommandFinger.h.

Constructor & Destructor Documentation

template<unsigned int N, unsigned int NHall>

JointCommandFinger< N, NHall >::JointCommandFinger	(	const std::string &	mechanism,
		IoFunctions	ioFunctions
	)

Definition at line 103 of file JointCommandFinger.h.

template<unsigned int N, unsigned int NHall>

JointCommandFinger< N, NHall >::~JointCommandFinger ( )

Definition at line 298 of file JointCommandFinger.h.

Member Function Documentation

template<unsigned int N, unsigned int NHall>

r2_msgs::JointCapability JointCommandFinger< N, NHall >::getCapability ( ) [virtual]

Implements JointCommandInterface.

Definition at line 1113 of file JointCommandFinger.h.

template<unsigned int N, unsigned int NHall>

r2_msgs::JointCommand JointCommandFinger< N, NHall >::getCommandedState ( ) [virtual]

Implements JointCommandInterface.

Definition at line 909 of file JointCommandFinger.h.

template<unsigned int N, unsigned int NHall>

sensor_msgs::JointState JointCommandFinger< N, NHall >::getCompleteMeasuredState ( ) [virtual]

Implements JointCommandInterface.

Definition at line 863 of file JointCommandFinger.h.

template<unsigned int N, unsigned int NHall>

sensor_msgs::JointState JointCommandFinger< N, NHall >::getSimpleMeasuredState ( ) [virtual]

Implements JointCommandInterface.

Definition at line 844 of file JointCommandFinger.h.

template<unsigned int N, unsigned int NHall>

void JointCommandFinger< N, NHall >::loadCoeffs ( ) [virtual]

Initialize messages

avoiding forward rate kinematics here

Parse parameter file

State & Command Elements

Coeffs

multiloop parameters

Reference Matrix

live coeff

Implements JointCommandInterface.

Definition at line 302 of file JointCommandFinger.h.

template<unsigned int N, unsigned int NHall>

void JointCommandFinger< N, NHall >::setCommand	(	r2_msgs::JointCommand	msg,
		r2_msgs::JointControlData	control
	)		`[virtual]`

Todo:: this doesn't seem right: velocity[N]???

we are not in drive, so set motcoms to 0

Implements JointCommandInterface.

Definition at line 921 of file JointCommandFinger.h.

template<unsigned int N, unsigned int NHall>

void JointCommandFinger< N, NHall >::setFaultState ( )

Definition at line 916 of file JointCommandFinger.h.

template<unsigned int N, unsigned int NHall>

void JointCommandFinger< N, NHall >::updateMeasuredState ( r2_msgs::JointControlData msg ) [virtual]

Implements JointCommandInterface.

Definition at line 660 of file JointCommandFinger.h.