#include <PowerCubeCtrl.h>

Public Types
enum	PC_CTRL_STATUS { PC_CTRL_OK = 0, PC_CTRL_NOT_HOMED = -1, PC_CTRL_ERR = -2, PC_CTRL_POW_VOLT_ERR = -3 }

Public Member Functions
bool	Close ()
	Close. More...

bool	doHoming ()
	Waits until all Modules are homed. More...

std::vector< double >	getAccelerations ()
	Gets the current accelerations. More...

std::string	getErrorMessage () const
	Get error message. More...

double	getHorizon ()
	Gets the horizon (sec). More...

bool	getJointAngles (std::vector< double > &result)
	get the current joint angles More...

bool	getJointVelocities (std::vector< double > &result)
	get the current joint velocities (Rad/s) More...

PC_CTRL_STATUS	getPC_Status () const
	Get PC_Status message. More...

std::vector< double >	getPositions ()
	Gets the current positions. More...

bool	getStatus (PC_CTRL_STATUS &status, std::vector< std::string > &errorMessages)
	Gets the status of the modules. More...

std::vector< double >	getVelocities ()
	Gets the current velcities. More...

std::vector< unsigned long >	getVersion ()
	Gets the firmware version of the modules. More...

bool	Init (PowerCubeCtrlParams *params)
	Initializing. More...

bool	isInitialized () const
	Checking if is initialized. More...

bool	MoveJointSpaceSync (const std::vector< double > &angles)
	Send position goals to powercubes, the final angles will be reached simultaneously. More...

bool	MoveVel (const std::vector< double > &velocities)
	Moves all cubes by the given velocities. More...

	PowerCubeCtrl (PowerCubeCtrlParams *params)
	Constructor. More...

bool	Recover ()
	Recovery after emergency stop or power supply failure. More...

bool	setASyncMotion ()
	Configure powercubes to start all movements asynchronously. More...

bool	setHorizon (double horizon)
	Sets the horizon (sec). More...

bool	setMaxAcceleration (double acceleration)
	Sets the maximum angular velocity (rad/s) for the Joints, use with care! More...

bool	setMaxAcceleration (const std::vector< double > &accelerations)
	Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care! More...

bool	setMaxVelocity (double velocity)
	Sets the maximum angular velocity (rad/s) for the Joints, use with care! More...

bool	setMaxVelocity (const std::vector< double > &velocities)
	Sets the maximum angular velocity (rad/s) for the Joints, use with care! More...

bool	setSyncMotion ()
	Configure powercubes to start all movements synchronously. More...

bool	statusMoving ()
	Returns true if any of the Joints are still moving. More...

bool	Stop ()
	Stops the Manipulator immediately. More...

bool	updateStates ()
	Returns the state of all modules. More...

void	updateVelocities (std::vector< double > pos_temp, double delta_t)

	~PowerCubeCtrl ()
	Destructor. More...

Protected Member Functions
bool	getPositionAndStatus (int module_id, unsigned long state, unsigned char dio, float *position)

Protected Attributes
std::vector< double >	m_accelerations

std::deque< std::vector< double > >	m_cached_pos

bool	m_CANDeviceOpened

int	m_DeviceHandle

std::vector< unsigned char >	m_dios

std::string	m_ErrorMessage

double	m_horizon

bool	m_Initialized

ros::Time	m_last_time_pub

std::vector< std::string >	m_ModuleTypes

pthread_mutex_t	m_mutex

PowerCubeCtrlParams *	m_params

PC_CTRL_STATUS	m_pc_status

std::vector< double >	m_positions

std::vector< unsigned long >	m_status

std::vector< double >	m_velocities

std::vector< unsigned long >	m_version

Detailed Description

Definition at line 37 of file PowerCubeCtrl.h.

Member Enumeration Documentation

enum PowerCubeCtrl::PC_CTRL_STATUS

Enumerator
PC_CTRL_OK
PC_CTRL_NOT_HOMED
PC_CTRL_ERR
PC_CTRL_POW_VOLT_ERR

Definition at line 46 of file PowerCubeCtrl.h.

Constructor & Destructor Documentation

PowerCubeCtrl::PowerCubeCtrl ( PowerCubeCtrlParams * params )

Constructor.

Definition at line 36 of file PowerCubeCtrl.cpp.

PowerCubeCtrl::~PowerCubeCtrl ( )

Destructor.

Definition at line 55 of file PowerCubeCtrl.cpp.

Member Function Documentation

bool PowerCubeCtrl::Close ( )

Close.

Close CAN devices.

Definition at line 341 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::doHoming ( )

Waits until all Modules are homed.

Does homing for all Modules.

Homes only Schunk PW-Modules or PRL-Modules don't need to be homed.

PRL-Modules are ignored. PW-Modules are checked if they are homed. If not,homeing is executed.

getting offsets

wait until all modules are homed

start homing

timeout watchdog for homing

check result

Definition at line 1335 of file PowerCubeCtrl.cpp.

std::vector< double > PowerCubeCtrl::getAccelerations ( )

Gets the current accelerations.

Gets the current positions.

ToDo: calculate new accelerations before returning

Definition at line 1268 of file PowerCubeCtrl.cpp.

std::string PowerCubeCtrl::getErrorMessage ( ) const

inline

Get error message.

Definition at line 74 of file PowerCubeCtrl.h.

double PowerCubeCtrl::getHorizon ( )

Gets the horizon (sec).

The horizon is the maximum step size which will be commanded to the powercube chain. In case of a failure this is the time the powercube chain will continue to move until it is stopped.

Definition at line 997 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::getJointAngles ( std::vector< double > & result )

get the current joint angles

Gets the current joint angles from device.

Definition at line 1277 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::getJointVelocities ( std::vector< double > & result )

get the current joint velocities (Rad/s)

Gets the current joint angular velocities from device.

Definition at line 1305 of file PowerCubeCtrl.cpp.

PC_CTRL_STATUS PowerCubeCtrl::getPC_Status ( ) const

inline

Get PC_Status message.

Definition at line 82 of file PowerCubeCtrl.h.

bool PowerCubeCtrl::getPositionAndStatus	(	int	module_id,
		unsigned long *	state,
		unsigned char *	dio,
		float *	position
	)

protected

Definition at line 1500 of file PowerCubeCtrl.cpp.

std::vector< double > PowerCubeCtrl::getPositions ( )

Gets the current positions.

Definition at line 1251 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::getStatus	(	PC_CTRL_STATUS &	status,
		std::vector< std::string > &	errorMessages
	)

Gets the status of the modules.

Definition at line 1138 of file PowerCubeCtrl.cpp.

std::vector< double > PowerCubeCtrl::getVelocities ( )

Gets the current velcities.

Gets the current velocities.

ToDo: calculate new velocities before returning

Definition at line 1259 of file PowerCubeCtrl.cpp.

std::vector< unsigned long > PowerCubeCtrl::getVersion ( )

Gets the firmware version of the modules.

Definition at line 1229 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::Init ( PowerCubeCtrlParams * params )

Initializing.

ToDo: Check brief.

Initializing

Setting paramters initialized by PowerCubeCtrlParams.h

Output of current settings in the terminal

open device

reset all modules of the chain

check number of modules connected to the bus

Check if the modules are connected

retrieve serial number

retrieve version number

retrieve defined gear ratio

retrieve axis type (linear or rotational)

find out module_type

otherwise success

check if modules are in normal state

Definition at line 75 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::isInitialized ( ) const

inline

Checking if is initialized.

Definition at line 66 of file PowerCubeCtrl.h.

bool PowerCubeCtrl::MoveJointSpaceSync ( const std::vector< double > & target_pos )

Send position goals to powercubes, the final angles will be reached simultaneously.

Move joints with calculated velocities and reach synchronously final position.

Parameters

velocities Vector

Definition at line 366 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::MoveVel ( const std::vector< double > & velocities )

Moves all cubes by the given velocities.

getting paramerters

getting limits

getting offsets

check dimensions

check velocity limit

check position limits

Types: PRL, PW, other

error handling

Definition at line 496 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::Recover ( )

Recovery after emergency stop or power supply failure.

Recovers the manipulator after an emergency stop.

modules successfully recovered

Definition at line 777 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::setASyncMotion ( )

Configure powercubes to start all movements asynchronously.

Tells the Modules to start immediately

get config

set config to asynchronous

Definition at line 1046 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::setHorizon ( double horizon )

Sets the horizon (sec).

The horizon is the maximum step size which will be commanded to the powercube chain. In case of a failure this is the time the powercube chain will continue to move until it is stopped.

Definition at line 984 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::setMaxAcceleration ( double maxAcceleration )

Sets the maximum angular velocity (rad/s) for the Joints, use with care!

Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care!

A Value of 0.5 is already pretty fast, you probably don't want anything more than one...

Definition at line 923 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::setMaxAcceleration ( const std::vector< double > & accelerations )

Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care!

Definition at line 953 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::setMaxVelocity ( double maxVelocity )

Sets the maximum angular velocity (rad/s) for the Joints, use with care!

A Value of 0.5 is already pretty fast, you probably don't want anything more than one...

Definition at line 864 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::setMaxVelocity ( const std::vector< double > & velocities )

Sets the maximum angular velocity (rad/s) for the Joints, use with care!

Definition at line 892 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::setSyncMotion ( )

Configure powercubes to start all movements synchronously.

Tells the Modules not to start moving until PCube_startMotionAll is called.

get config

set config to synchronous

Definition at line 1007 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::statusMoving ( )

Returns true if any of the Joints are still moving.

Returns true if some cubes are still moving.

Should also return true if Joints are accelerating or decelerating

Definition at line 1236 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::Stop ( )

Stops the Manipulator immediately.

Stops the manipulator immediately.

getting paramerters

stop should be executes without checking any conditions

after halt the modules don't accept move commands any more, they first have to be reseted

reset all modules of the chain

Definition at line 732 of file PowerCubeCtrl.cpp.

bool PowerCubeCtrl::updateStates ( )

Returns the state of all modules.

Returns the current states.

Definition at line 1075 of file PowerCubeCtrl.cpp.

void PowerCubeCtrl::updateVelocities	(	std::vector< double >	pos_temp,
		double	delta_t
	)

Definition at line 698 of file PowerCubeCtrl.cpp.

Member Data Documentation

std::vector<double> PowerCubeCtrl::m_accelerations

protected

Definition at line 243 of file PowerCubeCtrl.h.

std::deque< std::vector<double> > PowerCubeCtrl::m_cached_pos

protected

Definition at line 241 of file PowerCubeCtrl.h.

bool PowerCubeCtrl::m_CANDeviceOpened

protected

Definition at line 231 of file PowerCubeCtrl.h.

int PowerCubeCtrl::m_DeviceHandle

protected

Definition at line 229 of file PowerCubeCtrl.h.

std::vector<unsigned char> PowerCubeCtrl::m_dios

protected

Definition at line 239 of file PowerCubeCtrl.h.

std::string PowerCubeCtrl::m_ErrorMessage

protected

Definition at line 249 of file PowerCubeCtrl.h.

double PowerCubeCtrl::m_horizon

protected

Definition at line 245 of file PowerCubeCtrl.h.

bool PowerCubeCtrl::m_Initialized

protected

Definition at line 230 of file PowerCubeCtrl.h.

ros::Time PowerCubeCtrl::m_last_time_pub

protected

Definition at line 247 of file PowerCubeCtrl.h.

std::vector<std::string> PowerCubeCtrl::m_ModuleTypes

protected

Definition at line 237 of file PowerCubeCtrl.h.

pthread_mutex_t PowerCubeCtrl::m_mutex

protected

Definition at line 227 of file PowerCubeCtrl.h.

PowerCubeCtrlParams* PowerCubeCtrl::m_params

protected

Definition at line 233 of file PowerCubeCtrl.h.

PC_CTRL_STATUS PowerCubeCtrl::m_pc_status

protected

Definition at line 234 of file PowerCubeCtrl.h.

std::vector<double> PowerCubeCtrl::m_positions

protected

Definition at line 240 of file PowerCubeCtrl.h.

std::vector<unsigned long> PowerCubeCtrl::m_status

protected

Definition at line 236 of file PowerCubeCtrl.h.

std::vector<double> PowerCubeCtrl::m_velocities

protected

Definition at line 242 of file PowerCubeCtrl.h.

std::vector<unsigned long> PowerCubeCtrl::m_version

protected

Definition at line 238 of file PowerCubeCtrl.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation