#include <TubeTareMechanism.h>
Public Types | |
| typedef FingerController< N > ::JointVectorType | hallVec |
| typedef FingerController< N > ::ReferenceMatrixType | ReferenceMatrixType |
| typedef FingerController< N > ::SliderVectorType | SliderVectorType |
Public Member Functions | |
| virtual void | getEncoderTarePos () |
| virtual void | getSliderTarePos () |
| virtual void | getTensionTareValue () |
| virtual int | goodPosition () |
| virtual bool | isMoving () |
| virtual void | resetTensionCounter () |
| virtual void | setRelease (const std::vector< std::string > &actuators=std::vector< std::string >()) |
| virtual void | setStop (const std::vector< std::string > &actuators=std::vector< std::string >()) |
| virtual void | setTighten (const std::vector< std::string > &actuators=std::vector< std::string >()) |
| TubeTareMechanism (const std::string &mechanism, TubeTareInterface::IoFunctions ioFunctions, float freq) | |
| virtual | ~TubeTareMechanism () |
Public Attributes | |
| FingerController< N > | finger |
Private Member Functions | |
| void | setParameters () |
Private Attributes | |
| float | encoderMaxTravel |
| float | encoderMinTravel |
| boost::array< std::string, N+1 > | encoderOffsetElements |
| boost::array< std::string, N+1 > | encoderStateElements |
| FingerController< N > ::SliderVectorType | encoderVec |
| FingerController< N > ::SliderVectorType | encoderVels |
| float | encoderVelZeroThreshold |
| FingerController< N > ::SliderVectorType | filteredEncoderVec |
| bool | filterInitialized |
| boost::array< std::string, N > | hallStateElements |
| boost::array< std::string, N+1 > | motComCommandElements |
| SliderVectorType | motComReleaseVal |
| SliderVectorType | motComTightenVal |
| double | positionAlpha |
| FingerController< N > ::SliderVectorType | prevEncoderVec |
| boost::array< std::string, N+1 > | sliderOffsetElements |
| boost::array< std::string, N+1 > | sliderTarePosElements |
| SliderVectorType | tension_out |
| boost::array< std::string, N+1 > | tensionAStateElements |
| boost::array< std::string, N+1 > | tensionBStateElements |
| unsigned int | tensionCounter |
| SliderVectorType | tensionGainA |
| SliderVectorType | tensionGainB |
| boost::array< std::string, N+1 > | tensionOffsetElements |
| SliderVectorType | tensionSensorCalOffset |
| double | timestep |
Detailed Description
template<unsigned int N>
class TubeTareMechanism< N >
Definition at line 10 of file TubeTareMechanism.h.
Member Typedef Documentation
| typedef FingerController<N>::JointVectorType TubeTareMechanism< N >::hallVec |
Definition at line 29 of file TubeTareMechanism.h.
| typedef FingerController<N>::ReferenceMatrixType TubeTareMechanism< N >::ReferenceMatrixType |
Definition at line 28 of file TubeTareMechanism.h.
| typedef FingerController<N>::SliderVectorType TubeTareMechanism< N >::SliderVectorType |
Definition at line 27 of file TubeTareMechanism.h.
Constructor & Destructor Documentation
| TubeTareMechanism< N >::TubeTareMechanism | ( | const std::string & | mechanism, |
| TubeTareInterface::IoFunctions | ioFunctions, | ||
| float | freq | ||
| ) |
Definition at line 70 of file TubeTareMechanism.h.
| TubeTareMechanism< N >::~TubeTareMechanism | ( | ) | [virtual] |
Definition at line 126 of file TubeTareMechanism.h.
Member Function Documentation
| void TubeTareMechanism< N >::getEncoderTarePos | ( | ) | [virtual] |
Implements TubeTareInterface.
Definition at line 375 of file TubeTareMechanism.h.
| void TubeTareMechanism< N >::getSliderTarePos | ( | ) | [virtual] |
Implements TubeTareInterface.
Definition at line 447 of file TubeTareMechanism.h.
| void TubeTareMechanism< N >::getTensionTareValue | ( | ) | [virtual] |
Implements TubeTareInterface.
Definition at line 469 of file TubeTareMechanism.h.
| int TubeTareMechanism< N >::goodPosition | ( | ) | [virtual] |
Implements TubeTareInterface.
Definition at line 424 of file TubeTareMechanism.h.
| bool TubeTareMechanism< N >::isMoving | ( | ) | [virtual] |
Implements TubeTareInterface.
Definition at line 307 of file TubeTareMechanism.h.
| void TubeTareMechanism< N >::resetTensionCounter | ( | ) | [virtual] |
Implements TubeTareInterface.
Definition at line 496 of file TubeTareMechanism.h.
| void TubeTareMechanism< N >::setParameters | ( | ) | [private] |
Parse parameter file
State & Command Elements
Coeffs
Reference Matrix
Definition at line 130 of file TubeTareMechanism.h.
| void TubeTareMechanism< N >::setRelease | ( | const std::vector< std::string > & | actuators = std::vector<std::string>() | ) | [virtual] |
Implements TubeTareInterface.
Definition at line 341 of file TubeTareMechanism.h.
| void TubeTareMechanism< N >::setStop | ( | const std::vector< std::string > & | actuators = std::vector<std::string>() | ) | [virtual] |
Implements TubeTareInterface.
Definition at line 277 of file TubeTareMechanism.h.
| void TubeTareMechanism< N >::setTighten | ( | const std::vector< std::string > & | actuators = std::vector<std::string>() | ) | [virtual] |
Implements TubeTareInterface.
Definition at line 384 of file TubeTareMechanism.h.
Member Data Documentation
float TubeTareMechanism< N >::encoderMaxTravel [private] |
Definition at line 44 of file TubeTareMechanism.h.
float TubeTareMechanism< N >::encoderMinTravel [private] |
Definition at line 44 of file TubeTareMechanism.h.
boost::array< std::string, N + 1 > TubeTareMechanism< N >::encoderOffsetElements [private] |
Definition at line 49 of file TubeTareMechanism.h.
boost::array< std::string, N + 1 > TubeTareMechanism< N >::encoderStateElements [private] |
Definition at line 39 of file TubeTareMechanism.h.
FingerController<N>::SliderVectorType TubeTareMechanism< N >::encoderVec [private] |
Definition at line 55 of file TubeTareMechanism.h.
FingerController<N>::SliderVectorType TubeTareMechanism< N >::encoderVels [private] |
Definition at line 57 of file TubeTareMechanism.h.
float TubeTareMechanism< N >::encoderVelZeroThreshold [private] |
Definition at line 44 of file TubeTareMechanism.h.
FingerController<N>::SliderVectorType TubeTareMechanism< N >::filteredEncoderVec [private] |
Definition at line 56 of file TubeTareMechanism.h.
bool TubeTareMechanism< N >::filterInitialized [private] |
Definition at line 61 of file TubeTareMechanism.h.
| FingerController<N> TubeTareMechanism< N >::finger |
Definition at line 26 of file TubeTareMechanism.h.
boost::array<std::string, N> TubeTareMechanism< N >::hallStateElements [private] |
Definition at line 38 of file TubeTareMechanism.h.
boost::array< std::string, N + 1 > TubeTareMechanism< N >::motComCommandElements [private] |
Definition at line 42 of file TubeTareMechanism.h.
SliderVectorType TubeTareMechanism< N >::motComReleaseVal [private] |
Definition at line 46 of file TubeTareMechanism.h.
SliderVectorType TubeTareMechanism< N >::motComTightenVal [private] |
Definition at line 46 of file TubeTareMechanism.h.
double TubeTareMechanism< N >::positionAlpha [private] |
Definition at line 60 of file TubeTareMechanism.h.
FingerController<N>::SliderVectorType TubeTareMechanism< N >::prevEncoderVec [private] |
Definition at line 58 of file TubeTareMechanism.h.
boost::array< std::string, N + 1 > TubeTareMechanism< N >::sliderOffsetElements [private] |
Definition at line 50 of file TubeTareMechanism.h.
boost::array< std::string, N + 1 > TubeTareMechanism< N >::sliderTarePosElements [private] |
Definition at line 51 of file TubeTareMechanism.h.
SliderVectorType TubeTareMechanism< N >::tension_out [private] |
Definition at line 47 of file TubeTareMechanism.h.
boost::array< std::string, N + 1 > TubeTareMechanism< N >::tensionAStateElements [private] |
Definition at line 40 of file TubeTareMechanism.h.
boost::array< std::string, N + 1 > TubeTareMechanism< N >::tensionBStateElements [private] |
Definition at line 41 of file TubeTareMechanism.h.
unsigned int TubeTareMechanism< N >::tensionCounter [private] |
Definition at line 63 of file TubeTareMechanism.h.
SliderVectorType TubeTareMechanism< N >::tensionGainA [private] |
Definition at line 47 of file TubeTareMechanism.h.
SliderVectorType TubeTareMechanism< N >::tensionGainB [private] |
Definition at line 47 of file TubeTareMechanism.h.
boost::array< std::string, N + 1 > TubeTareMechanism< N >::tensionOffsetElements [private] |
Definition at line 52 of file TubeTareMechanism.h.
SliderVectorType TubeTareMechanism< N >::tensionSensorCalOffset [private] |
Definition at line 47 of file TubeTareMechanism.h.
double TubeTareMechanism< N >::timestep [private] |
Definition at line 59 of file TubeTareMechanism.h.
The documentation for this class was generated from the following file: