tactiles::Biotac< StatusType, CommandType > Class Template Reference

#include <biotac.hpp>

Inheritance diagram for tactiles::Biotac< StatusType, CommandType >:

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

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Detailed Description

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

Definition at line 43 of file biotac.hpp.

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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.

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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_data

the received etherCAT message

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

Definition at line 87 of file biotac.cpp.

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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.

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

• biotac.hpp
• biotac.cpp