shadowrobot::HandCommander Class Reference

#include <hand_commander.hpp>

List of all members.

Public Member Functions
std::vector< std::string >	get_all_joints ()
std::string	get_controller_state_topic (std::string joint_name)
std::pair< double, double >	get_min_max (std::string joint_name)
	HandCommander (const std::string &ns="")
void	sendCommands (std::vector< sr_robot_msgs::joint > joint_vector)
	~HandCommander ()
	Destructor.
Private Member Functions
void	initializeEthercatHand ()
Private Attributes
std::map< std::string, boost::shared_ptr< urdf::Joint > >	all_joints
	stores data about the hand (read from urdf)
bool	ethercat_controllers_found
shadowhandRosLib::HandType	hand_type
NodeHandle	node_
	ros node handle
std::map< std::string, std::string >	sr_hand_sub_topics
	A map of topics for the controller states.
Publisher	sr_hand_target_pub
	Publisher for the CAN hand targets.
boost::ptr_map< std::string, Publisher >	sr_hand_target_pub_map
	Publishers for the ethercat hand targets for every joint.
Static Private Attributes
static const double	TIMEOUT_TO_DETECT_CONTROLLER_MANAGER = 3.0

---

Detailed Description

This ROS subscriber is used to issue commands to the hand / arm, from sending a set of targets, to changing the controller parameters.

Definition at line 60 of file hand_commander.hpp.

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Constructor & Destructor Documentation

shadowrobot::HandCommander::HandCommander

(

const std::string &

ns = ""

)

Definition at line 41 of file hand_commander.cpp.

shadowrobot::HandCommander::~HandCommander

(

)

Destructor.

Definition at line 81 of file hand_commander.cpp.

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Member Function Documentation

std::vector< std::string > shadowrobot::HandCommander::get_all_joints

(

)

Get all the joint names from the robot description. Ideal for looping over all joints.

Returns:

A vector of joint names.

Definition at line 183 of file hand_commander.cpp.

std::string shadowrobot::HandCommander::get_controller_state_topic

(

std::string

joint_name

)

Returns the topic name for the controller state of a given joint. Useful for easily subscribing to the corresponding state topic in another node.

Parameters:

joint_name

the joint for which you want the topic.

Returns:

the full name (fully resolved) of the topic to which you need to subscribe.

Definition at line 200 of file hand_commander.cpp.

std::pair< double, double > shadowrobot::HandCommander::get_min_max

(

std::string

joint_name

)

Reads the min and max for a given joint from the urdf description.

Parameters:

joint_name

name of the joint (upper or lower case) (e.g. FFJ3)

Returns:

a pair containing first the min then the max for the given joint.

Definition at line 142 of file hand_commander.cpp.

void shadowrobot::HandCommander::initializeEthercatHand

(

)

[private]

init function for the ethercat hand It can be called if we know that there's an ethercat hand (controller_manager running)

Definition at line 85 of file hand_commander.cpp.

void shadowrobot::HandCommander::sendCommands

(

std::vector< sr_robot_msgs::joint >

joint_vector

)

Definition at line 113 of file hand_commander.cpp.

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Member Data Documentation

std::map<std::string, boost::shared_ptr<urdf::Joint> > shadowrobot::HandCommander::all_joints [private]

stores data about the hand (read from urdf)

Definition at line 102 of file hand_commander.hpp.

bool shadowrobot::HandCommander::ethercat_controllers_found [private]

Definition at line 113 of file hand_commander.hpp.

shadowhandRosLib::HandType shadowrobot::HandCommander::hand_type [private]

Definition at line 112 of file hand_commander.hpp.

NodeHandle shadowrobot::HandCommander::node_ [private]

ros node handle

Definition at line 99 of file hand_commander.hpp.

std::map<std::string, std::string> shadowrobot::HandCommander::sr_hand_sub_topics [private]

A map of topics for the controller states.

Definition at line 110 of file hand_commander.hpp.

Publisher shadowrobot::HandCommander::sr_hand_target_pub [private]

Publisher for the CAN hand targets.

Definition at line 105 of file hand_commander.hpp.

boost::ptr_map<std::string,Publisher> shadowrobot::HandCommander::sr_hand_target_pub_map [private]

Publishers for the ethercat hand targets for every joint.

Definition at line 107 of file hand_commander.hpp.

const double shadowrobot::HandCommander::TIMEOUT_TO_DETECT_CONTROLLER_MANAGER = 3.0 [static, private]

Definition at line 121 of file hand_commander.hpp.

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

• hand_commander.hpp
• hand_commander.cpp