shadowrobot::SRSubscriber Class Reference

#include <sr_subscriber.h>

List of all members.

Public Member Functions
	SRSubscriber (boost::shared_ptr< SRArticulatedRobot > sr_art_robot)
	~SRSubscriber ()
	Destructor.
Private Member Functions
void	cmd_callback (const std_msgs::Float64ConstPtr &msg, std::string &joint_name)
void	configCallback (const sr_robot_msgs::configConstPtr &msg)
void	contrlrCallback (const sr_robot_msgs::contrlrConstPtr &msg)
void	init ()
	init function
void	sendupdateCallback (const sr_robot_msgs::sendupdateConstPtr &msg)
Private Attributes
Subscriber	config_sub
	The subscriber to the config topic.
Subscriber	contrlr_sub
	The subscriber to the contrlr topic.
std::vector< Subscriber >	controllers_sub
	The vector of subscribers to the different joint topics.
NodeHandle	n_tilde
NodeHandle	node
	ros node handle
Subscriber	sendupdate_sub
	The subscriber to the sendupdate topic.
boost::shared_ptr < SRArticulatedRobot >	sr_articulated_robot
	The shadowhand / shadowarm object (can be either an object connected to the real robot or a virtual hand).

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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 59 of file sr_subscriber.h.

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Constructor & Destructor Documentation

shadowrobot::SRSubscriber::SRSubscriber

(

boost::shared_ptr< SRArticulatedRobot >

sr_art_robot

)

Constructor initializing the ROS node, and setting the topic to which it subscribes.

Parameters:

sr_art_robot

A Shadowhand object, where the information to be published comes from.

Definition at line 45 of file sr_subscriber.cpp.

shadowrobot::SRSubscriber::~SRSubscriber

(

)

Destructor.

Definition at line 55 of file sr_subscriber.cpp.

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Member Function Documentation

void shadowrobot::SRSubscriber::cmd_callback	(	const std_msgs::Float64ConstPtr &	msg,
		std::string &	joint_name
	)		[private]

Callback the etherCAT way: one topic per joint.

Parameters:

msg	the target in radians
joint_name	name of the joint we're sending the command to

Definition at line 110 of file sr_subscriber.cpp.

void shadowrobot::SRSubscriber::configCallback

(

const sr_robot_msgs::configConstPtr &

msg

)

[private]

process the config command: send new parameters to the palm.

Parameters:

msg	the config message received

Definition at line 140 of file sr_subscriber.cpp.

void shadowrobot::SRSubscriber::contrlrCallback

(

const sr_robot_msgs::contrlrConstPtr &

msg

)

[private]

process the contrlr command: send new parameters to a given controller.

Parameters:

msg	the contrlr message received. contrlr_name + list_of_parameters in a string array e.g. [p:10] sets the p value of the specified controller to 10.

Definition at line 116 of file sr_subscriber.cpp.

void shadowrobot::SRSubscriber::init

(

void

)

[private]

init function

Definition at line 59 of file sr_subscriber.cpp.

void shadowrobot::SRSubscriber::sendupdateCallback

(

const sr_robot_msgs::sendupdateConstPtr &

msg

)

[private]

process the sendupdate command: send new targets to the Dextrous Hand (or the Shadow Robot Arm), through the shadowhand object.

Parameters:

msg	the sendupdate message received. The sendupdate message, contains the number of sendupdate commands and a vector of joints with names and targets.

Definition at line 89 of file sr_subscriber.cpp.

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Member Data Documentation

Subscriber shadowrobot::SRSubscriber::config_sub [private]

The subscriber to the config topic.

Definition at line 121 of file sr_subscriber.h.

Subscriber shadowrobot::SRSubscriber::contrlr_sub [private]

The subscriber to the contrlr topic.

Definition at line 113 of file sr_subscriber.h.

std::vector<Subscriber> shadowrobot::SRSubscriber::controllers_sub [private]

The vector of subscribers to the different joint topics.

Definition at line 104 of file sr_subscriber.h.

NodeHandle shadowrobot::SRSubscriber::n_tilde [private]

Definition at line 74 of file sr_subscriber.h.

NodeHandle shadowrobot::SRSubscriber::node [private]

ros node handle

Definition at line 74 of file sr_subscriber.h.

Subscriber shadowrobot::SRSubscriber::sendupdate_sub [private]

The subscriber to the sendupdate topic.

Definition at line 94 of file sr_subscriber.h.

boost::shared_ptr<SRArticulatedRobot> shadowrobot::SRSubscriber::sr_articulated_robot [private]

The shadowhand / shadowarm object (can be either an object connected to the real robot or a virtual hand).

Definition at line 77 of file sr_subscriber.h.

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

• sr_subscriber.h
• sr_subscriber.cpp