Concrete class which communicate directly with ROS topics. More...
#include <XBot2Hal.h>
Inheritance diagram for ROSEE::XBot2Hal:
Public Types | |
| typedef std::shared_ptr< const XBot2Hal > | ConstPtr |
| typedef std::shared_ptr< XBot2Hal > | Ptr |
 Public Types inherited from ROSEE::EEHal | |
| typedef std::shared_ptr< const EEHal > | ConstPtr |
| typedef std::shared_ptr< EEHal > | Ptr |
Public Member Functions | |
| virtual bool | move () override |
| virtual bool | sense () override |
| XBot2Hal (ros::NodeHandle *nh) | |
| virtual | ~XBot2Hal () |
| Public Member Functions inherited from ROSEE::EEHal | |
| virtual bool | checkCommandPub () |
| EEHal (ros::NodeHandle *nh) | |
| virtual bool | getFingersNames (std::vector< std::string > &fingers_names) |
| Eigen::VectorXd | getJointEffort () const |
| Eigen::VectorXd | getJointPosition () const |
| Eigen::VectorXd | getMotorReference () const |
| virtual bool | getMotorsNames (std::vector< std::string > &motors_names) |
| virtual bool | getMotorStiffness (Eigen::VectorXd &motors_stiffness) |
| virtual bool | getMotorTorqueLimits (Eigen::VectorXd &motors_torque_limits) |
| Eigen::MatrixXd | getPressure () const |
| virtual bool | getTipJointToTipFrameX (Eigen::VectorXd &tip_joint_to_tip_frame_x) |
| virtual bool | getTipJointToTipFrameY (Eigen::VectorXd &tip_joint_to_tip_frame_y) |
| virtual bool | getTipsForcesFriction (Eigen::VectorXd &tips_forces_friction) |
| virtual bool | getTipsForcesNormal (Eigen::VectorXd &tips_forces_normal) |
| virtual bool | getTipsFrictions (Eigen::VectorXd &tips_friction) |
| virtual bool | getTipsJacobiansFriction (std::unordered_map< std::string, Eigen::MatrixXd > &tips_jacobian_friction) |
| virtual bool | getTipsJacobiansNormal (std::unordered_map< std::string, Eigen::MatrixXd > &tips_jacobian_normal) |
| virtual bool | getTransmissionAugmentedMatrices (std::unordered_map< std::string, Eigen::MatrixXd > &transmission_augmented_matrices) |
| virtual bool | getTransmissionMatrix (Eigen::MatrixXd &transmission_matrix) |
| virtual bool | getTransmissionSquareMatrices (std::unordered_map< std::string, Eigen::MatrixXd > &transmission_square_matrices) |
| virtual bool | init_hand_info_response () |
| init the service message with info parsed from yaml file, ie info that will not change according to hand configuration A derived HAL can override this if necessary, since this is called by EEHalExecutor More... | |
| virtual bool | isHandInfoPresent () |
| virtual bool | parseHandInfo () |
| virtual bool | publish_joint_state () |
| bool | publish_pressure () |
| virtual bool | setHandInfoCallback () |
| Here service is advertise and callback set: if derived class wants to use different callback, they must override this and do : _hand_info_server = _nh->advertiseService(_hand_info_service_name, <custom_callback>);. More... | |
| virtual | ~EEHal () |
Private Attributes | |
| XBot::JointNameMap | _jointPositionActualMap |
| XBot::JointNameMap | _jointPositionReferenceMap |
| XBot::RobotInterface::Ptr | _robot |
Additional Inherited Members | |
| Public Attributes inherited from ROSEE::EEHal | |
| bool | _pressure_active |
| Protected Member Functions inherited from ROSEE::EEHal | |
| bool | initPressureSensing () |
| Protected Attributes inherited from ROSEE::EEHal | |
| rosee_msg::HandInfo::Response | _hand_info_response |
| ros::ServiceServer | _hand_info_server |
| std::string | _hand_info_service_name |
| ros::Publisher | _joint_state_pub |
| sensor_msgs::JointState | _js_msg |
| ros::Subscriber | _motor_reference_sub |
| sensor_msgs::JointState | _mr_msg |
| ros::NodeHandle * | _nh |
| rosee_msg::MotorPhalangePressure | _pressure_msg |
| ros::Publisher | _pressure_pub |
| std::vector< std::string > | fingers_names |
| std::vector< std::string > | motors_names |
| Eigen::VectorXd | motors_stiffness |
| Eigen::VectorXd | motors_torque_limits |
| Eigen::VectorXd | tip_joint_to_tip_frame_x |
| Eigen::VectorXd | tip_joint_to_tip_frame_y |
| Eigen::VectorXd | tips_frictions |
Detailed Description
Concrete class which communicate directly with ROS topics.
Definition at line 19 of file XBot2Hal.h.
Member Typedef Documentation
◆ ConstPtr
| typedef std::shared_ptr<const XBot2Hal> ROSEE::XBot2Hal::ConstPtr |
Definition at line 25 of file XBot2Hal.h.
◆ Ptr
| typedef std::shared_ptr<XBot2Hal> ROSEE::XBot2Hal::Ptr |
Definition at line 24 of file XBot2Hal.h.
Constructor & Destructor Documentation
◆ XBot2Hal()
| ROSEE::XBot2Hal::XBot2Hal | ( | ros::NodeHandle * | nh | ) |
Definition at line 4 of file XBot2Hal.cpp.
◆ ~XBot2Hal()
|
inlinevirtual |
Definition at line 28 of file XBot2Hal.h.
Member Function Documentation
◆ move()
|
overridevirtual |
Implements ROSEE::EEHal.
Definition at line 72 of file XBot2Hal.cpp.
◆ sense()
|
overridevirtual |
Implements ROSEE::EEHal.
Definition at line 47 of file XBot2Hal.cpp.
Member Data Documentation
◆ _jointPositionActualMap
|
private |
Definition at line 37 of file XBot2Hal.h.
◆ _jointPositionReferenceMap
|
private |
Definition at line 38 of file XBot2Hal.h.
◆ _robot
|
private |
Definition at line 36 of file XBot2Hal.h.
The documentation for this class was generated from the following files: