tactiles::UBI0< StatusType, CommandType > Class Template Reference

#include <UBI0.hpp>

Inheritance diagram for tactiles::UBI0< StatusType, CommandType >:

List of all members.

Public Member Functions
virtual void	add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)
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 ()
	UBI0 (ros::NodeHandle nh, std::string device_id, std::vector< generic_updater::UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state)
	UBI0 (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 void	update (StatusType *status_data)
Protected Attributes
boost::shared_ptr < realtime_tools::RealtimePublisher < sr_robot_msgs::AuxSpiData > >	aux_spi_publisher
boost::shared_ptr< UBI0PalmData >	palm_tactiles
	the object containing the data from the palm sensors
boost::shared_ptr< std::vector < UBI0Data > >	tactiles_vector
	the vector containing the data for the tactiles.

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Detailed Description

template<class StatusType, class CommandType>
class tactiles::UBI0< StatusType, CommandType >

Definition at line 46 of file UBI0.hpp.

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Constructor & Destructor Documentation

template<class StatusType , class CommandType >

tactiles::UBI0< StatusType, CommandType >::UBI0	(	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 38 of file UBI0.cpp.

template<class StatusType , class CommandType >

tactiles::UBI0< StatusType, CommandType >::UBI0	(	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 47 of file UBI0.cpp.

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Member Function Documentation

template<class StatusType , class CommandType >

void tactiles::UBI0< 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 195 of file UBI0.cpp.

template<class StatusType , class CommandType >

std::vector< AllTactileData > * tactiles::UBI0< StatusType, CommandType >::get_tactile_data

(

)

[virtual]

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

Definition at line 221 of file UBI0.cpp.

template<class StatusType , class CommandType >

void tactiles::UBI0< 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 63 of file UBI0.cpp.

template<class StatusType , class CommandType >

void tactiles::UBI0< StatusType, CommandType >::publish

(

)

[virtual]

Publish the information to a ROS topic.

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

Definition at line 178 of file UBI0.cpp.

template<class StatusType , class CommandType >

void tactiles::UBI0< 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 85 of file UBI0.cpp.

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Member Data Documentation

template<class StatusType , class CommandType >

boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::AuxSpiData> > tactiles::UBI0< StatusType, CommandType >::aux_spi_publisher [protected]

Definition at line 96 of file UBI0.hpp.

template<class StatusType , class CommandType >

boost::shared_ptr<UBI0PalmData> tactiles::UBI0< StatusType, CommandType >::palm_tactiles [protected]

the object containing the data from the palm sensors

Definition at line 93 of file UBI0.hpp.

template<class StatusType , class CommandType >

boost::shared_ptr<std::vector<UBI0Data> > tactiles::UBI0< StatusType, CommandType >::tactiles_vector [protected]

the vector containing the data for the tactiles.

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

Definition at line 90 of file UBI0.hpp.

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

• UBI0.hpp
• UBI0.cpp