Public Member Functions | Protected Attributes | Static Protected Attributes
tactiles::Biotac< StatusType, CommandType > Class Template Reference

#include <biotac.hpp>

Inheritance diagram for tactiles::Biotac< StatusType, CommandType >:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)
 Biotac (ros::NodeHandle nh, std::string device_id, std::vector< generic_updater::UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state)
 Biotac (ros::NodeHandle nh, std::string device_id, std::vector< generic_updater::UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state, boost::shared_ptr< std::vector< GenericTactileData > > init_tactiles_vector)
virtual std::vector
< AllTactileData > * 
get_tactile_data ()
void init (std::vector< generic_updater::UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state)
virtual void publish ()
void set_version_specific_details ()
virtual void update (StatusType *status_data)

Protected Attributes

size_t nb_electrodes_
boost::shared_ptr< std::vector
< BiotacData > > 
tactiles_vector
 the vector containing the data for the tactiles.

Static Protected Attributes

static const size_t nb_electrodes_v1_ = 19
static const size_t nb_electrodes_v2_ = 24

Detailed Description

template<class StatusType, class CommandType>
class tactiles::Biotac< StatusType, CommandType >

Definition at line 43 of file biotac.hpp.


Constructor & Destructor Documentation

template<class StatusType , class CommandType >
tactiles::Biotac< StatusType, CommandType >::Biotac ( ros::NodeHandle  nh,
std::string  device_id,
std::vector< generic_updater::UpdateConfig update_configs_vector,
operation_mode::device_update_state::DeviceUpdateState  update_state 
)

Definition at line 45 of file biotac.cpp.

template<class StatusType , class CommandType >
tactiles::Biotac< StatusType, CommandType >::Biotac ( ros::NodeHandle  nh,
std::string  device_id,
std::vector< generic_updater::UpdateConfig update_configs_vector,
operation_mode::device_update_state::DeviceUpdateState  update_state,
boost::shared_ptr< std::vector< GenericTactileData > >  init_tactiles_vector 
)

Definition at line 54 of file biotac.cpp.


Member Function Documentation

template<class StatusType , class CommandType >
void tactiles::Biotac< StatusType, CommandType >::add_diagnostics ( std::vector< diagnostic_msgs::DiagnosticStatus > &  vec,
diagnostic_updater::DiagnosticStatusWrapper d 
) [virtual]

This function adds the diagnostics for the tactiles to the multi diagnostic status published by the hand.

Reimplemented from tactiles::GenericTactiles< StatusType, CommandType >.

Definition at line 382 of file biotac.cpp.

template<class StatusType , class CommandType >
std::vector< AllTactileData > * tactiles::Biotac< StatusType, CommandType >::get_tactile_data ( ) [virtual]

Reimplemented from tactiles::GenericTactiles< StatusType, CommandType >.

Definition at line 408 of file biotac.cpp.

template<class StatusType , class CommandType >
void tactiles::Biotac< StatusType, CommandType >::init ( std::vector< generic_updater::UpdateConfig update_configs_vector,
operation_mode::device_update_state::DeviceUpdateState  update_state 
)

This function is called in the constructors, to initialize the necessary objects

Definition at line 72 of file biotac.cpp.

template<class StatusType , class CommandType >
void tactiles::Biotac< StatusType, CommandType >::publish ( ) [virtual]

Publish the information to a ROS topic.

Reimplemented from tactiles::GenericTactiles< StatusType, CommandType >.

Definition at line 376 of file biotac.cpp.

template<class StatusType , class CommandType >
void tactiles::Biotac< StatusType, CommandType >::set_version_specific_details ( )

Definition at line 419 of file biotac.cpp.

template<class StatusType , class CommandType >
void tactiles::Biotac< StatusType, CommandType >::update ( StatusType *  status_data) [virtual]

This function is called each time a new etherCAT message is received in the sr06.cpp driver. It updates the tactile sensors values contained in tactiles_vector.

Parameters:
status_datathe received etherCAT message

Reimplemented from tactiles::GenericTactiles< StatusType, CommandType >.

Definition at line 87 of file biotac.cpp.


Member Data Documentation

template<class StatusType , class CommandType >
size_t tactiles::Biotac< StatusType, CommandType >::nb_electrodes_ [protected]

Definition at line 91 of file biotac.hpp.

template<class StatusType , class CommandType >
const size_t tactiles::Biotac< StatusType, CommandType >::nb_electrodes_v1_ = 19 [static, protected]

Definition at line 93 of file biotac.hpp.

template<class StatusType , class CommandType >
const size_t tactiles::Biotac< StatusType, CommandType >::nb_electrodes_v2_ = 24 [static, protected]

Definition at line 94 of file biotac.hpp.

template<class StatusType , class CommandType >
boost::shared_ptr<std::vector<BiotacData> > tactiles::Biotac< StatusType, CommandType >::tactiles_vector [protected]

the vector containing the data for the tactiles.

Reimplemented from tactiles::GenericTactiles< StatusType, CommandType >.

Definition at line 89 of file biotac.hpp.


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


sr_robot_lib
Author(s): Ugo Cupcic, Toni Oliver
autogenerated on Mon Jul 1 2019 20:06:26