The Virtual Shadowhand can be used as a simulator. As both the real hand and the virtual hand are children from the shadowhand class, using a virtual or a real hand doesn't change anything in the way you call them in your programs. More...

#include <virtual_shadowhand.h>

Inheritance diagram for shadowrobot::VirtualShadowhand:

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Public Member Functions
virtual JointsMap	getAllJointsData ()

virtual void	getConfig (std::string joint_name)

virtual JointControllerData	getContrl (std::string ctrlr_name)

virtual std::vector< DiagnosticData >	getDiagnostics ()

virtual JointData	getJointData (std::string joint_name)

virtual int16_t	sendupdate (std::string joint_name, double target)

virtual int16_t	setConfig (std::vector< std::string > myConfig)

virtual int16_t	setContrl (std::string contrlr_name, JointControllerData ctrlr_data)

	VirtualShadowhand ()

virtual	~VirtualShadowhand ()

Public Member Functions inherited from shadowrobot::SRArticulatedRobot
	SRArticulatedRobot ()

virtual	~SRArticulatedRobot ()

Protected Types
typedef std::map< std::string, JointControllerData >	ControllersMap

Protected Member Functions
void	initializeMap ()

double	toDegrees (double rad)

double	toRad (double deg)

Protected Attributes
ControllersMap	controllers_map
	Contains the mapping between the controller names and their data. More...

ros::NodeHandle	n_tilde

ros::NodeHandle	node
	ROS Node handles. More...

Protected Attributes inherited from shadowrobot::SRArticulatedRobot
boost::shared_ptr< self_test::TestRunner >	self_test
	this is the handle for the self tests. More...

Additional Inherited Members
Public Types inherited from shadowrobot::SRArticulatedRobot
typedef std::map< std::string, JointData >	JointsMap

typedef std::map< std::string, enum controller_parameters >	ParametersMap

Public Attributes inherited from shadowrobot::SRArticulatedRobot
boost::mutex	controllers_map_mutex

JointsMap	joints_map
	A mapping between the joint names and the information regarding those joints. More...

boost::mutex	joints_map_mutex

ParametersMap	parameters_map
	A mapping between the parameter names and their values. More...

boost::mutex	parameters_map_mutex

Detailed Description

The Virtual Shadowhand can be used as a simulator. As both the real hand and the virtual hand are children from the shadowhand class, using a virtual or a real hand doesn't change anything in the way you call them in your programs.

Definition at line 46 of file virtual_shadowhand.h.

Member Typedef Documentation

typedef std::map<std::string, JointControllerData> shadowrobot::VirtualShadowhand::ControllersMap

protected

See also: controllers_map

Definition at line 117 of file virtual_shadowhand.h.

Constructor & Destructor Documentation

shadowrobot::VirtualShadowhand::VirtualShadowhand ( )

Initializes the necessary mappings with a static list of names.

Definition at line 46 of file virtual_shadowhand.cpp.

shadowrobot::VirtualShadowhand::~VirtualShadowhand ( )

virtual

Definition at line 67 of file virtual_shadowhand.cpp.

Member Function Documentation

SRArticulatedRobot::JointsMap shadowrobot::VirtualShadowhand::getAllJointsData ( )

virtual

Get the data for all the joints.

Returns: a mapping between the joints names and the information for each joint.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 352 of file virtual_shadowhand.cpp.

void shadowrobot::VirtualShadowhand::getConfig ( std::string joint_name )

virtual

Get the config of the palm

Todo:: Not implemented yet

Parameters

joint_name

Implements shadowrobot::SRArticulatedRobot.

Definition at line 420 of file virtual_shadowhand.cpp.

JointControllerData shadowrobot::VirtualShadowhand::getContrl ( std::string contrlr_name )

virtual

Get the controller parameters for a given controller name.

Parameters

contrlr_name the name of the controller.

Returns: The parameters of this controller

Implements shadowrobot::SRArticulatedRobot.

Definition at line 395 of file virtual_shadowhand.cpp.

std::vector< DiagnosticData > shadowrobot::VirtualShadowhand::getDiagnostics ( )

virtual

Generates a set of random data to be published by the diagnostic publisher, but keep the position and target as they are ( those are updated by the sendupdate() function).

Returns: A vector containing all the diagnostics for the hand (motor information, etc...)

Implements shadowrobot::SRArticulatedRobot.

Definition at line 425 of file virtual_shadowhand.cpp.

JointData shadowrobot::VirtualShadowhand::getJointData ( std::string joint_name )

virtual

In the virtual hand, getJointData() simply fetches the data from a given joint in the joints_map. As the targets and positions are up to date, there's no need of reading other values here for those two values. However, we generate random values for the other data (temperature, current, etc...)

Parameters

joint_name The name of the joint, as specified in joints_map.

Returns: The information regarding this joint.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 324 of file virtual_shadowhand.cpp.

void shadowrobot::VirtualShadowhand::initializeMap ( )

protected

Initialize a mapping for the joints as well as a mapping for the controllers.

Definition at line 71 of file virtual_shadowhand.cpp.

int16_t shadowrobot::VirtualShadowhand::sendupdate	(	std::string	joint_name,
		double	target
	)

virtual

This function will set the target of the object to the given angle. It will also set the position to this target.

Todo:: This could be improved by implementing a control algorithm in this theoretic hand.

Parameters

joint_name	The Joint in joints_map you wish to send the target to.
target	The target in degree

Returns: 0 if success ; -1 if error

Implements shadowrobot::SRArticulatedRobot.

Definition at line 225 of file virtual_shadowhand.cpp.

int16_t shadowrobot::VirtualShadowhand::setConfig ( std::vector< std::string > myConfig )

virtual

Set the config of the palm

Todo:: Not implemented yet

Parameters

myConfig

Returns

Implements shadowrobot::SRArticulatedRobot.

Definition at line 414 of file virtual_shadowhand.cpp.

int16_t shadowrobot::VirtualShadowhand::setContrl	(	std::string	contrlr_name,
		JointControllerData	ctrlr_data
	)

virtual

Set the controller parameters for a given controller name.

Parameters

contrlr_name	The name of the controller to setup.
ctrlr_data	The data to pass to this controller.

Returns: 0 if success.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 375 of file virtual_shadowhand.cpp.

double shadowrobot::VirtualShadowhand::toDegrees ( double rad )

inlineprotected

Convert an angle in radian to an angle in degrees.

Parameters

rad	the angle in rads

Returns: the value in degrees.

Definition at line 136 of file virtual_shadowhand.h.

double shadowrobot::VirtualShadowhand::toRad ( double deg )

inlineprotected

Convert an angle in degree to an angle in radians.

Parameters

deg	the angle in degrees

Returns: the value in rads.

Definition at line 126 of file virtual_shadowhand.h.

Member Data Documentation

ControllersMap shadowrobot::VirtualShadowhand::controllers_map

protected

Contains the mapping between the controller names and their data.

Definition at line 119 of file virtual_shadowhand.h.

ros::NodeHandle shadowrobot::VirtualShadowhand::n_tilde

protected

Definition at line 99 of file virtual_shadowhand.h.

ros::NodeHandle shadowrobot::VirtualShadowhand::node

protected

ROS Node handles.

Definition at line 99 of file virtual_shadowhand.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation