Public Member Functions | Protected Member Functions | Protected Attributes
shadowrobot::SrTactileSensorManager Class Reference

#include <sr_generic_tactile_sensor.hpp>

Inheritance diagram for shadowrobot::SrTactileSensorManager:
Inheritance graph

List of all members.

Public Member Functions

void publish_all ()
 SrTactileSensorManager ()
 ~SrTactileSensorManager ()

Protected Member Functions

std::vector< std::vector
< std::string > > 
get_all_names ()
bool is_hand_occupied_cb (sr_robot_msgs::is_hand_occupied::Request &req, sr_robot_msgs::is_hand_occupied::Response &res)
bool which_fingers_are_touching_cb (sr_robot_msgs::which_fingers_are_touching::Request &req, sr_robot_msgs::which_fingers_are_touching::Response &res)

Protected Attributes

ros::ServiceServer is_hand_occupied_server
std::vector< double > is_hand_occupied_thresholds
ros::NodeHandle n_tilde
ros::Rate publish_rate
std::vector< boost::shared_ptr
< SrGenericTactileSensor > > 
ros::ServiceServer which_fingers_are_touching_server

Detailed Description

Definition at line 69 of file sr_generic_tactile_sensor.hpp.

Constructor & Destructor Documentation

Definition at line 57 of file sr_generic_tactile_sensor.cpp.

Definition at line 101 of file sr_generic_tactile_sensor.cpp.

Member Function Documentation

std::vector< std::vector< std::string > > shadowrobot::SrTactileSensorManager::get_all_names ( ) [protected]

Get all the necessary names for the tactile sensors: the display names, the touch sensor name (for the robot).

Those names are read from the parameter server. They are stored in params/sensor_names.yaml

a vector containing 3 vectors for the display_names and the sensor_touch_names ; in this order.

Definition at line 143 of file sr_generic_tactile_sensor.cpp.

bool shadowrobot::SrTactileSensorManager::is_hand_occupied_cb ( sr_robot_msgs::is_hand_occupied::Request &  req,
sr_robot_msgs::is_hand_occupied::Response &  res 
) [protected]

Callback for the service to check if the hand is occupied. This is were we actually check if the hand is holding something or not.

For the time being, we simply check if the sensors have a bigger value than a list of thresholds.

reqempty request.
restrue if the hand contains something.

Definition at line 104 of file sr_generic_tactile_sensor.cpp.

Calls the publish_current_values for each of the tactile sensors.

Definition at line 202 of file sr_generic_tactile_sensor.cpp.

bool shadowrobot::SrTactileSensorManager::which_fingers_are_touching_cb ( sr_robot_msgs::which_fingers_are_touching::Request &  req,
sr_robot_msgs::which_fingers_are_touching::Response &  res 
) [protected]

Callback for the service to check which fingers are touching, with a given force.

reqcontains the forces thresholds for each finger.
resa vector of 5 doubles representing the contact forces. If 0.0 -> not touching, if > 0.0 -> current force.

Definition at line 124 of file sr_generic_tactile_sensor.cpp.

Member Data Documentation

Definition at line 86 of file sr_generic_tactile_sensor.hpp.

Definition at line 87 of file sr_generic_tactile_sensor.hpp.

Definition at line 83 of file sr_generic_tactile_sensor.hpp.

Definition at line 84 of file sr_generic_tactile_sensor.hpp.

Definition at line 82 of file sr_generic_tactile_sensor.hpp.

Definition at line 103 of file sr_generic_tactile_sensor.hpp.

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

Author(s): Ugo Cupcic
autogenerated on Fri Aug 21 2015 12:27:01