shadow_robot::SrMuscleHandLib< StatusType, CommandType > Class Template Reference

#include <sr_muscle_hand_lib.hpp>

Inheritance diagram for shadow_robot::SrMuscleHandLib< StatusType, CommandType >:

List of all members.

Public Member Functions
bool	reset_muscle_driver_callback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response, int muscle_driver_index)
	SrMuscleHandLib (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh, ros::NodeHandle nhtilde, std::string device_id, std::string joint_prefix)
Protected Member Functions
virtual void	initialize (std::vector< std::string > joint_names, std::vector< int > actuator_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors)
void	initialize (std::vector< std::string > joint_names, std::vector< shadow_joints::JointToMuscle > actuator_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors)
Private Member Functions
std::vector < shadow_joints::JointToMuscle >	read_joint_to_muscle_mapping ()
Static Private Attributes
static const char *	human_readable_muscle_data_types []
static const int32u	muscle_data_types []
static const int	nb_muscle_data = 3

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Detailed Description

template<class StatusType, class CommandType>
class shadow_robot::SrMuscleHandLib< StatusType, CommandType >

Definition at line 44 of file sr_muscle_hand_lib.hpp.

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Constructor & Destructor Documentation

template<class StatusType , class CommandType >

shadow_robot::SrMuscleHandLib< StatusType, CommandType >::SrMuscleHandLib	(	hardware_interface::HardwareInterface *	hw,
		ros::NodeHandle	nh,
		ros::NodeHandle	nhtilde,
		std::string	device_id,
		std::string	joint_prefix
	)

Definition at line 74 of file sr_muscle_hand_lib.cpp.

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Member Function Documentation

template<class StatusType , class CommandType >

virtual void shadow_robot::SrMuscleHandLib< StatusType, CommandType >::initialize	(	std::vector< std::string >	joint_names,
		std::vector< int >	actuator_ids,
		std::vector< shadow_joints::JointToSensor >	joint_to_sensors
	)		[protected, virtual]

Initializes the hand library with the needed values.

Parameters:

joint_names	A vector containing all the joint names.
actuator_ids	A vector containing the corresponding actuator ids.
joint_to_sensors	A vector mapping the joint to the sensor index we read from the palm.

Implements shadow_robot::SrMuscleRobotLib< StatusType, CommandType >.

template<class StatusType , class CommandType >

void shadow_robot::SrMuscleHandLib< StatusType, CommandType >::initialize	(	std::vector< std::string >	joint_names,
		std::vector< shadow_joints::JointToMuscle >	actuator_ids,
		std::vector< shadow_joints::JointToSensor >	joint_to_sensors
	)		[protected]

Initializes the hand library with the needed values.

Parameters:

joint_names	A vector containing all the joint names.
actuator_ids	A vector containing the corresponding actuator ids.
joint_to_sensors	A vector mapping the joint to the sensor index we read from the palm.

template<class StatusType , class CommandType >

vector< JointToMuscle > shadow_robot::SrMuscleHandLib< StatusType, CommandType >::read_joint_to_muscle_mapping

(

)

[private]

Reads the mapping associating a joint to a muscle. If the muscle index is -1, then no muscle is associated to this joint.

Returns:

a vector of JointToMuscle structures (containing the indexes of the muscles for the joint), ordered by joint.

Definition at line 197 of file sr_muscle_hand_lib.cpp.

template<class StatusType , class CommandType >

bool shadow_robot::SrMuscleHandLib< StatusType, CommandType >::reset_muscle_driver_callback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response,
		int	muscle_driver_index
	)

Reset the muscle driver at motor index.

Parameters:

request	empty
response	empty
muscle_driver_index	The index of the muscle driver we're resetting

Returns:

true if success

Definition at line 185 of file sr_muscle_hand_lib.cpp.

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Member Data Documentation

template<class StatusType , class CommandType >

const char * shadow_robot::SrMuscleHandLib< StatusType, CommandType >::human_readable_muscle_data_types [static, private]

Initial value:

 {
          "muscle_data_pressure",
          "muscle_data_can_stats",
          "muscle_data_slow_misc"}

Definition at line 112 of file sr_muscle_hand_lib.hpp.

template<class StatusType , class CommandType >

const int32u shadow_robot::SrMuscleHandLib< StatusType, CommandType >::muscle_data_types [static, private]

Initial value:

 {MUSCLE_DATA_PRESSURE,
                                                                                              MUSCLE_DATA_CAN_STATS,
                                                                                              MUSCLE_DATA_SLOW_MISC}

Definition at line 113 of file sr_muscle_hand_lib.hpp.

template<class StatusType , class CommandType >

const int shadow_robot::SrMuscleHandLib< StatusType, CommandType >::nb_muscle_data = 3 [static, private]

Definition at line 111 of file sr_muscle_hand_lib.hpp.

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

• sr_muscle_hand_lib.hpp
• sr_muscle_hand_lib.cpp