#include <gripper_module.h>

Inheritance diagram for thormang3::GripperModule:

Public Member Functions
	GripperModule ()

void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)

bool	isRunning ()

void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors)

void	publishStatusMsg (unsigned int type, std::string msg)

void	setModeMsgCallback (const std_msgs::String::ConstPtr &msg)

void	stop ()

virtual	~GripperModule ()

Public Member Functions inherited from robotis_framework::MotionModule
ControlMode	getControlMode ()

bool	getModuleEnable ()

std::string	getModuleName ()

virtual void	onModuleDisable ()

virtual void	onModuleEnable ()

void	setModuleEnable (bool enable)

virtual	~MotionModule ()

Private Member Functions
void	queueThread ()

void	setEndTrajectory ()

void	setJointPoseMsgCallback (const sensor_msgs::JointState::ConstPtr &msg)

void	setTorqueLimit ()

void	traGeneProcJointSpace ()

Private Attributes
int	all_time_steps_

int	cnt_

double	control_cycle_sec_

sensor_msgs::JointState	goal_joint_pose_msg_

Eigen::VectorXd	goal_joint_position_

Eigen::MatrixXd	goal_joint_tra_

ros::Publisher	goal_torque_limit_pub_

bool	is_moving_

std::map< std::string, int >	joint_name_to_id_

double	mov_time_

std_msgs::String	movement_done_msg_

ros::Publisher	movement_done_pub_

Eigen::VectorXd	present_joint_position_

Eigen::VectorXd	present_joint_velocity_

boost::thread	queue_thread_

ros::Publisher	set_ctrl_module_pub_

ros::Publisher	status_msg_pub_

boost::thread *	tra_gene_tread_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< GripperModule >
static void	destroyInstance ()

static T *	getInstance ()

Public Attributes inherited from robotis_framework::MotionModule
std::map< std::string, DynamixelState * >	result_

Protected Member Functions inherited from robotis_framework::Singleton< GripperModule >
Singleton &	operator= (Singleton const &)

	Singleton (Singleton const &)

	Singleton ()

Protected Attributes inherited from robotis_framework::MotionModule
ControlMode	control_mode_

bool	enable_

std::string	module_name_

Detailed Description

Definition at line 46 of file gripper_module.h.

Constructor & Destructor Documentation

GripperModule::GripperModule ( )

Definition at line 22 of file gripper_module.cpp.

GripperModule::~GripperModule ( )

virtual

Definition at line 44 of file gripper_module.cpp.

Member Function Documentation

void GripperModule::initialize	(	const int	control_cycle_msec,
		robotis_framework::Robot *	robot
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 49 of file gripper_module.cpp.

bool GripperModule::isRunning ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 250 of file gripper_module.cpp.

void GripperModule::process	(	std::map< std::string, robotis_framework::Dynamixel * >	dxls,
		std::map< std::string, double >	sensors
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 192 of file gripper_module.cpp.

void GripperModule::publishStatusMsg	(	unsigned int	type,
		std::string	msg
	)

Definition at line 255 of file gripper_module.cpp.

void GripperModule::queueThread ( )

private

Definition at line 55 of file gripper_module.cpp.

void GripperModule::setEndTrajectory ( )

private

Definition at line 174 of file gripper_module.cpp.

void GripperModule::setJointPoseMsgCallback ( const sensor_msgs::JointState::ConstPtr & msg )

private

Definition at line 90 of file gripper_module.cpp.

void GripperModule::setModeMsgCallback ( const std_msgs::String::ConstPtr & msg )

Definition at line 81 of file gripper_module.cpp.

void GripperModule::setTorqueLimit ( )

private

Definition at line 157 of file gripper_module.cpp.

void GripperModule::stop ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 243 of file gripper_module.cpp.

void GripperModule::traGeneProcJointSpace ( )

private

Definition at line 112 of file gripper_module.cpp.

Member Data Documentation

int thormang3::GripperModule::all_time_steps_

private

Definition at line 76 of file gripper_module.h.

int thormang3::GripperModule::cnt_

private

Definition at line 77 of file gripper_module.h.

double thormang3::GripperModule::control_cycle_sec_

private

Definition at line 51 of file gripper_module.h.

sensor_msgs::JointState thormang3::GripperModule::goal_joint_pose_msg_

private

Definition at line 70 of file gripper_module.h.

Eigen::VectorXd thormang3::GripperModule::goal_joint_position_

private

Definition at line 68 of file gripper_module.h.

Eigen::MatrixXd thormang3::GripperModule::goal_joint_tra_

private

Definition at line 79 of file gripper_module.h.

ros::Publisher thormang3::GripperModule::goal_torque_limit_pub_

private

Definition at line 58 of file gripper_module.h.

bool thormang3::GripperModule::is_moving_

private

Definition at line 64 of file gripper_module.h.

std::map<std::string, int> thormang3::GripperModule::joint_name_to_id_

private

Definition at line 61 of file gripper_module.h.

double thormang3::GripperModule::mov_time_

private

Definition at line 75 of file gripper_module.h.

std_msgs::String thormang3::GripperModule::movement_done_msg_

private

Definition at line 72 of file gripper_module.h.

ros::Publisher thormang3::GripperModule::movement_done_pub_

private

Definition at line 59 of file gripper_module.h.

Eigen::VectorXd thormang3::GripperModule::present_joint_position_

private

Definition at line 66 of file gripper_module.h.

Eigen::VectorXd thormang3::GripperModule::present_joint_velocity_

private

Definition at line 67 of file gripper_module.h.

boost::thread thormang3::GripperModule::queue_thread_

private

Definition at line 52 of file gripper_module.h.

ros::Publisher thormang3::GripperModule::set_ctrl_module_pub_

private

Definition at line 57 of file gripper_module.h.

ros::Publisher thormang3::GripperModule::status_msg_pub_

private

Definition at line 56 of file gripper_module.h.

boost::thread* thormang3::GripperModule::tra_gene_tread_

private

Definition at line 53 of file gripper_module.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation