The base class to control the SCHUNK Dexterous Hand. More...

#include <sdhbase.h>

Inheritance diagram for cSDHBase:

Public Types
enum	{ All = -1 }
	Anonymous enum (instead of define like macros) More...

enum	eControllerType { eCT_INVALID = -1, eCT_POSE = 0, eCT_VELOCITY, eCT_VELOCITY_ACCELERATION, eCT_DIMENSION }
	An enum for all possible SDH internal controller types (order must match that in the SDH firmware in inc/sdh2.h) More...

enum	eErrorCode { eEC_SUCCESS = 0, eEC_NOT_AVAILABLE, eEC_NOT_INITIALIZED, eEC_ALREADY_RUNNING, eEC_FEATURE_NOT_SUPPORTED, eEC_INCONSISTENT_DATA, eEC_TIMEOUT, eEC_READ_ERROR, eEC_WRITE_ERROR, eEC_INSUFFICIENT_RESOURCES, eEC_CHECKSUM_ERROR, eEC_NOT_ENOUGH_PARAMS, eEC_NO_PARAMS_EXPECTED, eEC_CMD_UNKNOWN, eEC_CMD_FORMAT_ERROR, eEC_ACCESS_DENIED, eEC_ALREADY_OPEN, eEC_CMD_FAILED, eEC_CMD_ABORTED, eEC_INVALID_HANDLE, eEC_DEVICE_NOT_FOUND, eEC_DEVICE_NOT_OPENED, eEC_IO_ERROR, eEC_INVALID_PARAMETER, eEC_RANGE_ERROR, eEC_NO_DATAPIPE, eEC_INDEX_OUT_OF_BOUNDS, eEC_HOMING_ERROR, eEC_AXIS_DISABLED, eEC_OVER_TEMPERATURE, eEC_MAX_COMMANDS_EXCEEDED, eEC_INVALID_PASSWORD, eEC_MAX_COMMANDLINE_EXCEEDED, eEC_CRC_ERROR, eEC_NO_COMMAND, eEC_INTERNAL, eEC_UNKNOWN_ERROR, eEC_DIMENSION }

enum	eGraspId { eGID_INVALID = -1, eGID_CENTRICAL = 0, eGID_PARALLEL = 1, eGID_CYLINDRICAL = 2, eGID_SPHERICAL = 3, eGID_DIMENSION }
	The enum values of the known grasps. More...

enum	eVelocityProfile { eVP_INVALID = -1, eVP_SIN_SQUARE, eVP_RAMP, eVP_DIMENSION }
	An enum for all possible SDH internal velocity profile types. More...

Public Member Functions
void	CheckIndex (int index, int maxindex, char const *name="")
	Check if index is in [0 .. maxindex-1] or All. Throw a cSDHErrorInvalidParameter exception if not. More...

void	CheckRange (double value, double minvalue, double maxvalue, char const *name="")
	Check if value is in [minvalue .. maxvalue]. Throw a cSDHErrorInvalidParameter exception if not. More...

void	CheckRange (double values, double minvalues, double maxvalues, char const name="")
	Check if any value[i] in array values is in [minvalue[i] .. maxvalue[i]]. Throw a cSDHErrorInvalidParameter exception if not. More...

	cSDHBase (int debug_level)

double	GetEps (void)
	Return the eps value. More...

cSimpleVector const &	GetEpsVector (void)
	Return simple vector of number of axes epsilon values. More...

eErrorCode	GetFirmwareState (void)
	Return the last known state of the SDH firmware. More...

int	GetNumberOfAxes (void)
	Return the number of axes of the SDH. More...

int	GetNumberOfFingers (void)
	Return the number of fingers of the SDH. More...

int	GetNumberOfTemperatureSensors (void)
	Return the number of temperature sensors of the SDH. More...

virtual bool	IsOpen (void)=0
	Return true if connection to SDH firmware/hardware is open. More...

virtual void	SetDebugOutput (std::ostream *debuglog)
	change the stream to use for debug messages More...

virtual	~cSDHBase ()

Static Public Member Functions
static char const *	GetStringFromControllerType (eControllerType controller_type)
	Return a ptr to a (static) string describing controller type controller_Type. More...

static char const *	GetStringFromErrorCode (eErrorCode error_code)
	Return a ptr to a (static) string describing error code error_code. More...

static char const *	GetStringFromGraspId (eGraspId grasp_id)
	Return a ptr to a (static) string describing grasp id grasp_id. More...

Protected Attributes
int	all_axes_used
	Bit field with the bits for all axes set. More...

cDBG	cdbg
	debug stream to print colored debug messages More...

int	debug_level
	debug level of this object More...

double	eps
	epsilon value (max absolute deviation of reported values from actual hardware values) (needed since SDH firmware limits number of digits reported) More...

cSimpleVector	eps_v
	simple vector of 7 epsilon values More...

eErrorCode	firmware_state
	the last known state of the SDH firmware More...

cSimpleVector	max_angle_v
	Maximum allowed axis angles (in internal units (degrees)) More...

cSimpleVector	min_angle_v
	simple vector of 7 0 values ??? More...

int	NUMBER_OF_AXES
	The number of axes. More...

int	NUMBER_OF_FINGERS
	The number of fingers. More...

int	NUMBER_OF_TEMPERATURE_SENSORS
	The number of temperature sensors. More...

Static Protected Attributes
static char const *	controller_type_name []
	A mapping from eControllerType controller type enums to strings with human readable controller type names. More...

static char const *	firmware_error_codes []
	A mapping from eErrorCode error code enums to strings with human readable error messages. More...

static char const *	grasp_id_name []
	A mapping from eGraspId grasp id enums to strings with human readable grasp id names. More...

Detailed Description

The base class to control the SCHUNK Dexterous Hand.

End-Users should NOT use this class directly, as it only provides some common settings and no function interface. End users should use the class cSDH instead, as it provides the end-user functions to control the SDH.

Definition at line 97 of file sdhbase.h.

Member Enumeration Documentation

anonymous enum

Anonymous enum (instead of define like macros)

Enumerator
All	A meta-value that means "access all possible values".

Definition at line 102 of file sdhbase.h.

enum cSDHBase::eControllerType

An enum for all possible SDH internal controller types (order must match that in the SDH firmware in inc/sdh2.h)

Enumerator
eCT_INVALID	invalid controller_type (needed for cSDHSerial::con() to indicate "read current controller type")
eCT_POSE	coordinated position controller (position per axis => "pose controller"), all axes start and stop moving at the same time
eCT_VELOCITY	velocity controller, velocities of axes are controlled independently (not implemented in SDH firmwares up to and including 0.0.2.5)
eCT_VELOCITY_ACCELERATION	velocity controller with acceleration ramp, velocities and accelerations of axes are controlled independently (not implemented in SDH firmwares up to and including 0.0.2.5)
eCT_DIMENSION	Endmarker and dimension.

Definition at line 176 of file sdhbase.h.

enum cSDHBase::eErrorCode

The error codes of the SDH firmware

Enumerator
eEC_SUCCESS
eEC_NOT_AVAILABLE
eEC_NOT_INITIALIZED
eEC_ALREADY_RUNNING
eEC_FEATURE_NOT_SUPPORTED
eEC_INCONSISTENT_DATA
eEC_TIMEOUT
eEC_READ_ERROR
eEC_WRITE_ERROR
eEC_INSUFFICIENT_RESOURCES
eEC_CHECKSUM_ERROR
eEC_NOT_ENOUGH_PARAMS
eEC_NO_PARAMS_EXPECTED
eEC_CMD_UNKNOWN
eEC_CMD_FORMAT_ERROR
eEC_ACCESS_DENIED
eEC_ALREADY_OPEN
eEC_CMD_FAILED
eEC_CMD_ABORTED
eEC_INVALID_HANDLE
eEC_DEVICE_NOT_FOUND
eEC_DEVICE_NOT_OPENED
eEC_IO_ERROR
eEC_INVALID_PARAMETER
eEC_RANGE_ERROR
eEC_NO_DATAPIPE
eEC_INDEX_OUT_OF_BOUNDS
eEC_HOMING_ERROR
eEC_AXIS_DISABLED
eEC_OVER_TEMPERATURE
eEC_MAX_COMMANDS_EXCEEDED
eEC_INVALID_PASSWORD
eEC_MAX_COMMANDLINE_EXCEEDED
eEC_CRC_ERROR
eEC_NO_COMMAND
eEC_INTERNAL
eEC_UNKNOWN_ERROR
eEC_DIMENSION	Endmarker and dimension.

Definition at line 112 of file sdhbase.h.

enum cSDHBase::eGraspId

The enum values of the known grasps.

Enumerator
eGID_INVALID	invalid grasp id
eGID_CENTRICAL	centrical grasp: ???
eGID_PARALLEL	parallel grasp: ???
eGID_CYLINDRICAL	cylindrical grasp: ???
eGID_SPHERICAL	spherecial grasp: ???
eGID_DIMENSION	Endmarker and dimension.

Definition at line 162 of file sdhbase.h.

enum cSDHBase::eVelocityProfile

An enum for all possible SDH internal velocity profile types.

Enumerator
eVP_INVALID	not a valid velocity profile, used to make #SDH::cSDHSerial::vp() read the velocity profile from the SDH firmware
eVP_SIN_SQUARE	sin square velocity profile
eVP_RAMP	ramp velocity profile
eVP_DIMENSION	endmarker and dimension

Definition at line 191 of file sdhbase.h.

Constructor & Destructor Documentation

cSDHBase::cSDHBase ( int debug_level )

Constructor of cSDHBase class, initilize internal variables and settings

Parameters

debug_level

: debug level of the created object. If the debug_level of an object is > 0 then it will output debug messages.

(Subclasses of cSDHBase like cSDH or cSDHSerial use additional settings, see there.)

Definition at line 137 of file sdhbase.cpp.

virtual cSDHBase::~cSDHBase ( )

inlinevirtual

virtual destructor to make compiler happy

Definition at line 217 of file sdhbase.h.

Member Function Documentation

void cSDHBase::CheckIndex	(	int	index,
		int	maxindex,
		char const *	name = `""`
	)

Check if index is in [0 .. maxindex-1] or All. Throw a cSDHErrorInvalidParameter exception if not.

Definition at line 169 of file sdhbase.cpp.

void cSDHBase::CheckRange	(	double	value,
		double	minvalue,
		double	maxvalue,
		char const *	name = `""`
	)

Check if value is in [minvalue .. maxvalue]. Throw a cSDHErrorInvalidParameter exception if not.

Definition at line 177 of file sdhbase.cpp.

void cSDHBase::CheckRange	(	double *	values,
		double *	minvalues,
		double *	maxvalues,
		char const *	name = `""`
	)

Check if any value[i] in array values is in [minvalue[i] .. maxvalue[i]]. Throw a cSDHErrorInvalidParameter exception if not.

Definition at line 185 of file sdhbase.cpp.

double cSDHBase::GetEps ( void )

Return the eps value.

Definition at line 254 of file sdhbase.cpp.

cSimpleVector const & cSDHBase::GetEpsVector ( void )

Return simple vector of number of axes epsilon values.

Definition at line 261 of file sdhbase.cpp.

cSDHBase::eErrorCode cSDHBase::GetFirmwareState ( void )

Return the last known state of the SDH firmware.

Definition at line 247 of file sdhbase.cpp.

int cSDHBase::GetNumberOfAxes ( void )

Return the number of axes of the SDH.

Definition at line 226 of file sdhbase.cpp.

int cSDHBase::GetNumberOfFingers ( void )

Return the number of fingers of the SDH.

Definition at line 233 of file sdhbase.cpp.

int cSDHBase::GetNumberOfTemperatureSensors ( void )

Return the number of temperature sensors of the SDH.

Definition at line 240 of file sdhbase.cpp.

char const * cSDHBase::GetStringFromControllerType ( eControllerType controller_type )

static

Return a ptr to a (static) string describing controller type controller_Type.

Definition at line 216 of file sdhbase.cpp.

char const * cSDHBase::GetStringFromErrorCode ( eErrorCode error_code )

static

Return a ptr to a (static) string describing error code error_code.

Definition at line 196 of file sdhbase.cpp.

char const * cSDHBase::GetStringFromGraspId ( eGraspId grasp_id )

static

Return a ptr to a (static) string describing grasp id grasp_id.

Definition at line 206 of file sdhbase.cpp.

virtual bool cSDHBase::IsOpen ( void )

pure virtual

Return true if connection to SDH firmware/hardware is open.

Implemented in cSDH, and cSDHSerial.

virtual void cSDHBase::SetDebugOutput ( std::ostream * debuglog )

inlinevirtual

change the stream to use for debug messages

Reimplemented in cSDH.

Definition at line 273 of file sdhbase.h.

Member Data Documentation

int cSDHBase::all_axes_used

protected

Bit field with the bits for all axes set.

Definition at line 306 of file sdhbase.h.

cDBG cSDHBase::cdbg

protected

debug stream to print colored debug messages

Definition at line 279 of file sdhbase.h.

char const * cSDHBase::controller_type_name

staticprotected

Initial value:

=
    {
        
        "eCT_POSE: position/pose controller coordinated",
        "eCT_VELOCITY: velocity controller",
        "eCT_VELOCITY_ACCELERATION: velocity with acceleration ramp controller",
        
        "eCT_DIMENSION: number of controller types"
    }

A mapping from eControllerType controller type enums to strings with human readable controller type names.

Definition at line 293 of file sdhbase.h.

int cSDHBase::debug_level

protected

debug level of this object

Definition at line 282 of file sdhbase.h.

double cSDHBase::eps

protected

epsilon value (max absolute deviation of reported values from actual hardware values) (needed since SDH firmware limits number of digits reported)

Definition at line 315 of file sdhbase.h.

cSimpleVector cSDHBase::eps_v

protected

simple vector of 7 epsilon values

Definition at line 318 of file sdhbase.h.

NAMESPACE_SDH_END char const * cSDHBase::firmware_error_codes

staticprotected

A mapping from eErrorCode error code enums to strings with human readable error messages.

Definition at line 285 of file sdhbase.h.

eErrorCode cSDHBase::firmware_state

protected

the last known state of the SDH firmware

Definition at line 309 of file sdhbase.h.

char const * cSDHBase::grasp_id_name

staticprotected

Initial value:

=
    {
        
        "eGID_CENTRICAL: centrical grasp",
        "eGID_PARALLEL: parallel grasp",
        "eGID_CYLINDRICAL: cylindrical grasp",
        "eGID_SPHERICAL: spherecial grasp",
        "eGID_DIMENSION: number of predefined grasp ids"
    }

A mapping from eGraspId grasp id enums to strings with human readable grasp id names.

Definition at line 289 of file sdhbase.h.

cSimpleVector cSDHBase::max_angle_v

protected

Maximum allowed axis angles (in internal units (degrees))

Definition at line 330 of file sdhbase.h.

cSimpleVector cSDHBase::min_angle_v

protected

simple vector of 7 0 values ???

simple vector of 7 1 values ??? Minimum allowed axis angles (in internal units (degrees))

Definition at line 327 of file sdhbase.h.

int cSDHBase::NUMBER_OF_AXES

protected

The number of axes.

Definition at line 297 of file sdhbase.h.

int cSDHBase::NUMBER_OF_FINGERS

protected

The number of fingers.

Definition at line 300 of file sdhbase.h.

int cSDHBase::NUMBER_OF_TEMPERATURE_SENSORS

protected

The number of temperature sensors.

Definition at line 303 of file sdhbase.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation