rqt_bhand.rqt_bhand.BHandGUI Class Reference

Inheritance diagram for rqt_bhand.rqt_bhand.BHandGUI:

Public Member Functions
def	__init__ (self, context)
def	close_button_pressed (self)
def	enable_command_pos_changed (self, value)
def	enable_command_vel_changed (self, value)
def	fingers_check_box_pressed (self, state)
def	mode1_button_pressed (self)
def	mode2_button_pressed (self)
def	open_button_pressed (self)
def	press_reset_dspic_odom (self)
def	radio_button_position_clicked (self, value)
def	radio_button_velocity_clicked (self, value)
def	read_ros_params (self)
def	send_bhand_action (self, action)
def	send_position_command (self)
def	send_velocity_command (self)
def	set_control_mode (self, mode)
def	shutdown_plugin (self)
def	slider_1_changed (self)
def	slider_2_changed (self)
def	slider_3_changed (self)
def	slider_4_changed (self)
def	slider_v_f1_changed (self)
def	slider_v_f2_changed (self)
def	slider_v_f3_changed (self)
def	slider_v_spread_changed (self)
def	start_button_pressed (self)
def	stop (self)
def	timeout_command_timer (self)
def	timerEvent (self, e)
Public Member Functions inherited from rqt_gui_py::plugin::Plugin
def	__init__ (self, context)
def	shutdown_plugin (self)

Public Attributes
	base_spread
	base_spread_vel
	bhand_node_name
	black_string
	desired_ref
	enable_commands
	finger1_spread
	finger1_spread_vel
	finger2_spread
	finger2_spread_vel
	finger3_spread
	finger3_spread_vel
	finger_factor
	fixed_fingers
	green_string
	joint_ids
	joint_names
	joint_state_pointer
	max_vel
	orange_string
	palm_factor
	red_string
	state_string
	vel_factor
	yellow_string

Private Member Functions
def	_init_timers (self)
def	_on_topic_changed (self)
def	_receive_dspic_data (self, msg)
def	_receive_joints_data (self, msg)
def	_receive_state_data (self, msg)
def	_receive_tact_data (self, msg)

Private Attributes
	_actions_service_name
	_bhand_data
	_command_topic
	_dspic_data
	_joint_data
	_joint_states_topic
	_joint_subscriber
	_joints_data
	_pixmap_green
	_pixmap_red
	_publisher
	_publisher_command
	_service_bhand_actions
	_service_set_mode
	_set_mode_service_name
	_subscriber
	_tact_data
	_tact_subscriber
	_tact_topic
	_timer
	_timer_commands
	_topic
	_topic_connected
	_topic_dspic_connected
	_topic_dspic_timer
	_topic_joint_states_connected
	_topic_joint_states_timer
	_topic_timeout_connection
	_topic_timer
	_widget

Detailed Description

Definition at line 58 of file rqt_bhand.py.

Constructor & Destructor Documentation

def rqt_bhand.rqt_bhand.BHandGUI.__init__	(		self,
			context
	)

Definition at line 60 of file rqt_bhand.py.

Member Function Documentation

def rqt_bhand.rqt_bhand.BHandGUI._init_timers (   self )

private

Definition at line 241 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI._on_topic_changed (   self )

private

Definition at line 403 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI._receive_dspic_data (   self,   msg  )

private

Definition at line 454 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI._receive_joints_data (   self,   msg  )

private

        Handler for Joint States

Definition at line 422 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI._receive_state_data (   self,   msg  )

private

Definition at line 413 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI._receive_tact_data (   self,   msg  )

private

Definition at line 443 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.close_button_pressed

(

self

)

        Handles the press button event to call close hand service

Definition at line 275 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.enable_command_pos_changed	(		self,
			value
	)

        Handles command enabled event from checkbox

Definition at line 500 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.enable_command_vel_changed	(		self,
			value
	)

        Handles command enabled event from checkbox

Definition at line 480 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.fingers_check_box_pressed	(		self,
			state
	)

        Handler call when clicking checkbox to control all fingers

Definition at line 390 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.mode1_button_pressed

(

self

)

        Handles the press button event to call set mode 1  service

Definition at line 291 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.mode2_button_pressed

(

self

)

        Handles the press button event to call set mode 2 service

Definition at line 298 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.open_button_pressed

(

self

)

        Handles the press button event to call open hand service

Definition at line 284 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.press_reset_dspic_odom

(

self

)

Definition at line 464 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.radio_button_position_clicked	(		self,
			value
	)

        Handles the click of this radio button

Definition at line 513 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.radio_button_velocity_clicked	(		self,
			value
	)

        Handles the click of this radio button

Definition at line 522 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.read_ros_params

(

self

)

        Read ROS params from server

Definition at line 223 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.send_bhand_action	(		self,
			action
	)

        Calls the service to set the control mode of the hand
        @param action: Action number (defined in msgs/Service.msg)
        @type action: int

Definition at line 545 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.send_position_command

(

self

)

        Sends a command in position mode

Definition at line 378 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.send_velocity_command

(

self

)

        Sends a command to the bhand

Definition at line 560 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.set_control_mode	(		self,
			mode
	)

        Calls the service to set the control mode of the hand
        @param mode: Desired Bhand mode of operation ('PID', 'VELOCITY')
        @type mode: string

Definition at line 530 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.shutdown_plugin

(

self

)

        Shutdowns connections

Definition at line 590 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.slider_1_changed

(

self

)

Definition at line 306 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.slider_2_changed

(

self

)

Definition at line 313 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.slider_3_changed

(

self

)

Definition at line 322 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.slider_4_changed

(

self

)

Definition at line 331 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.slider_v_f1_changed

(

self

)

        Handler for slider v_f1

Definition at line 347 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.slider_v_f2_changed

(

self

)

        Handler for slider v_f2

Definition at line 357 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.slider_v_f3_changed

(

self

)

        Handler for slider v_f3

Definition at line 367 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.slider_v_spread_changed

(

self

)

        Handler for slider v_spread

Definition at line 340 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.start_button_pressed

(

self

)

        Handles the press button event to call initialization service

Definition at line 260 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.stop

(

self

)

        Stops the movement of the joints
        It sets the velocity to 0

Definition at line 579 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.timeout_command_timer

(

self

)

        Handles every timeout triggered by the Qtimer for sending commands      

Definition at line 571 of file rqt_bhand.py.

def rqt_bhand.rqt_bhand.BHandGUI.timerEvent	(		self,
			e
	)

Definition at line 606 of file rqt_bhand.py.

Member Data Documentation

rqt_bhand.rqt_bhand.BHandGUI._actions_service_name

private

Definition at line 131 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._bhand_data

private

Definition at line 70 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._command_topic

private

Definition at line 129 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._dspic_data

private

Definition at line 455 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._joint_data

private

Definition at line 71 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._joint_states_topic

private

Definition at line 127 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._joint_subscriber

private

Definition at line 158 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._joints_data

private

Definition at line 426 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._pixmap_green

private

Definition at line 114 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._pixmap_red

private

Definition at line 113 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._publisher

private

Definition at line 65 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._publisher_command

private

Definition at line 169 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._service_bhand_actions

private

Definition at line 175 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._service_set_mode

private

Definition at line 180 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._set_mode_service_name

private

Definition at line 130 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._subscriber

private

Definition at line 153 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._tact_data

private

Definition at line 72 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._tact_subscriber

private

Definition at line 163 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._tact_topic

private

Definition at line 128 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._timer

private

Definition at line 253 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._timer_commands

private

Definition at line 256 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._topic

private

Definition at line 126 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._topic_connected

private

Definition at line 242 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._topic_dspic_connected

private

Definition at line 460 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._topic_dspic_timer

private

Definition at line 456 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._topic_joint_states_connected

private

Definition at line 243 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._topic_joint_states_timer

private

Definition at line 246 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._topic_timeout_connection

private

Definition at line 251 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._topic_timer

private

Definition at line 245 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI._widget

private

Definition at line 67 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.base_spread

Definition at line 82 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.base_spread_vel

Definition at line 87 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.bhand_node_name

Definition at line 229 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.black_string

Definition at line 98 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.desired_ref

Definition at line 134 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.enable_commands

Definition at line 77 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.finger1_spread

Definition at line 83 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.finger1_spread_vel

Definition at line 88 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.finger2_spread

Definition at line 84 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.finger2_spread_vel

Definition at line 89 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.finger3_spread

Definition at line 85 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.finger3_spread_vel

Definition at line 90 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.finger_factor

Definition at line 101 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.fixed_fingers

Definition at line 186 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.green_string

Definition at line 97 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.joint_ids

Definition at line 231 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.joint_names

Definition at line 232 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.joint_state_pointer

Definition at line 142 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.max_vel

Definition at line 91 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.orange_string

Definition at line 95 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.palm_factor

Definition at line 100 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.red_string

Definition at line 94 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.state_string

Definition at line 103 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.vel_factor

Definition at line 92 of file rqt_bhand.py.

rqt_bhand.rqt_bhand.BHandGUI.yellow_string

Definition at line 96 of file rqt_bhand.py.

---

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

• rqt_bhand.py