shadowrobot::SRSubscriber Class Reference

#include <sr_subscriber.h>

Public Member Functions
	SRSubscriber (boost::shared_ptr< SRArticulatedRobot > sr_art_robot)
	~SRSubscriber ()
	Destructor. More...

Private Member Functions
void	cmd_callback (const std_msgs::Float64ConstPtr &msg, std::string &joint_name)
void	configCallback (const sr_robot_msgs::configConstPtr &msg)
void	contrlrCallback (const sr_robot_msgs::contrlrConstPtr &msg)
void	init ()
	init function More...
void	sendupdateCallback (const sr_robot_msgs::sendupdateConstPtr &msg)

Private Attributes
Subscriber	config_sub
	The subscriber to the config topic. More...
Subscriber	contrlr_sub
	The subscriber to the contrlr topic. More...
std::vector< Subscriber >	controllers_sub
	The vector of subscribers to the different joint topics. More...
NodeHandle	n_tilde
NodeHandle	node
	ros node handle More...
Subscriber	sendupdate_sub
	The subscriber to the sendupdate topic. More...
boost::shared_ptr< SRArticulatedRobot >	sr_articulated_robot
	The shadowhand / shadowarm object (can be either an object connected to the real robot or a virtual hand). More...

Detailed Description

This ROS subscriber is used to issue commands to the hand / arm, from sending a set of targets, to changing the controller parameters.

Definition at line 60 of file sr_subscriber.h.

Constructor & Destructor Documentation

shadowrobot::SRSubscriber::SRSubscriber ( boost::shared_ptr< SRArticulatedRobot >  sr_art_robot )

explicit

Constructor initializing the ROS node, and setting the topic to which it subscribes.

Parameters

sr_art_robot

A Shadowhand object, where the information to be published comes from.

Definition at line 47 of file sr_subscriber.cpp.

shadowrobot::SRSubscriber::~SRSubscriber

(

)

Destructor.

Definition at line 57 of file sr_subscriber.cpp.

Member Function Documentation

void shadowrobot::SRSubscriber::cmd_callback ( const std_msgs::Float64ConstPtr &  msg, std::string &  joint_name  )

private

Callback the etherCAT way: one topic per joint.

Parameters

msg	the target in radians
joint_name	name of the joint we're sending the command to

Definition at line 113 of file sr_subscriber.cpp.

void shadowrobot::SRSubscriber::configCallback ( const sr_robot_msgs::configConstPtr &  msg )

private

process the config command: send new parameters to the palm.

Parameters

msg	the config message received

Definition at line 142 of file sr_subscriber.cpp.

void shadowrobot::SRSubscriber::contrlrCallback ( const sr_robot_msgs::contrlrConstPtr &  msg )

private

process the contrlr command: send new parameters to a given controller.

Parameters

msg	the contrlr message received. contrlr_name + list_of_parameters in a string array e.g. [p:10] sets the p value of the specified controller to 10.

Definition at line 119 of file sr_subscriber.cpp.

void shadowrobot::SRSubscriber::init ( )

private

init function

Definition at line 61 of file sr_subscriber.cpp.

void shadowrobot::SRSubscriber::sendupdateCallback ( const sr_robot_msgs::sendupdateConstPtr &  msg )

private

process the sendupdate command: send new targets to the Dextrous Hand (or the Shadow Robot Arm), through the shadowhand object.

Parameters

msg	the sendupdate message received. The sendupdate message, contains the number of sendupdate commands and a vector of joints with names and targets.

Definition at line 93 of file sr_subscriber.cpp.

Member Data Documentation

Subscriber shadowrobot::SRSubscriber::config_sub

private

The subscriber to the config topic.

Definition at line 126 of file sr_subscriber.h.

Subscriber shadowrobot::SRSubscriber::contrlr_sub

private

The subscriber to the contrlr topic.

Definition at line 117 of file sr_subscriber.h.

std::vector<Subscriber> shadowrobot::SRSubscriber::controllers_sub

private

The vector of subscribers to the different joint topics.

Definition at line 107 of file sr_subscriber.h.

NodeHandle shadowrobot::SRSubscriber::n_tilde

private

Definition at line 75 of file sr_subscriber.h.

NodeHandle shadowrobot::SRSubscriber::node

private

ros node handle

Definition at line 75 of file sr_subscriber.h.

Subscriber shadowrobot::SRSubscriber::sendupdate_sub

private

The subscriber to the sendupdate topic.

Definition at line 96 of file sr_subscriber.h.

boost::shared_ptr<SRArticulatedRobot> shadowrobot::SRSubscriber::sr_articulated_robot

private

The shadowhand / shadowarm object (can be either an object connected to the real robot or a virtual hand).

Definition at line 78 of file sr_subscriber.h.

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

• sr_subscriber.h
• sr_subscriber.cpp