sr_articulated_robot.h File Reference

This is a parent class for the different types of Shadowhand we can have. It makes it possible to swap from a virtual to a real hand while using the same utilities to interact with the hand. One (or more) ROS subscriber and publisher can then share the same instance of a Shadowhand object to update the information contained in this object. More...

#include <ros/ros.h>
#include <string>
#include <vector>
#include <map>
#include "diagnostic_msgs/SelfTest.h"
#include "self_test/self_test.h"
#include <boost/smart_ptr.hpp>
#include <boost/thread.hpp>
#include <boost/noncopyable.hpp>
#include <boost/assign.hpp>

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Classes
struct	shadowrobot::DiagnosticData
struct	shadowrobot::JointControllerData
struct	shadowrobot::JointData
struct	shadowrobot::Parameters
class	shadowrobot::SRArticulatedRobot
	This is a parent class for the different types of Shadowhand we can have. It makes it possible to swap from a virtual to a real hand while using the same utilities to interact with the hand. One (or more) ROS subscriber and publisher can then share the same instance of a Shadowhand object to update the information contained in this object. More...
Namespaces
namespace	debug_values
namespace	shadowrobot
Enumerations
enum	shadowrobot::controller_parameters {   shadowrobot::PARAM_sensor, shadowrobot::PARAM_target, shadowrobot::PARAM_valve, shadowrobot::PARAM_deadband,   shadowrobot::PARAM_p, shadowrobot::PARAM_i, shadowrobot::PARAM_d, shadowrobot::PARAM_imax,   shadowrobot::PARAM_output_offset, shadowrobot::PARAM_shift, shadowrobot::PARAM_output_max, shadowrobot::PARAM_motor_maxforce,   shadowrobot::PARAM_motor_safeforce, shadowrobot::PARAM_force_p, shadowrobot::PARAM_force_i, shadowrobot::PARAM_force_d,   shadowrobot::PARAM_force_imax, shadowrobot::PARAM_force_out_shift, shadowrobot::PARAM_force_deadband, shadowrobot::PARAM_force_offset,   shadowrobot::PARAM_sensor_imax, shadowrobot::PARAM_sensor_out_shift, shadowrobot::PARAM_sensor_deadband, shadowrobot::PARAM_sensor_offset,   shadowrobot::PARAM_max_temperature, shadowrobot::PARAM_max_current, shadowrobot::PARAM_type_of_sensor, shadowrobot::PARAM_type_of_setpoint }
Variables
static const std::map< const std::string, const unsigned int >	debug_values::names_and_offsets
	a map containing the names and offsets of the smart motor node

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Detailed Description

This is a parent class for the different types of Shadowhand we can have. It makes it possible to swap from a virtual to a real hand while using the same utilities to interact with the hand. One (or more) ROS subscriber and publisher can then share the same instance of a Shadowhand object to update the information contained in this object.

Author:

Ugo Cupcic <ugo@shadowrobot.com>, Contact <contact@shadowrobot.com>

Date:

Tue May 25 17:50:47 2010

Copyright 2011 Shadow Robot Company Ltd.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file sr_articulated_robot.h.