sr_edc_muscle.cpp File Reference

This is a ROS driver for Shadow Robot EtherCAT dual CAN muscle hand. More...

#include <sr_edc_ethercat_drivers/sr_edc_muscle.h>
#include <realtime_tools/realtime_publisher.h>
#include <sstream>
#include <string>
#include <vector>
#include <iomanip>
#include <boost/foreach.hpp>
#include <std_msgs/Int16.h>
#include <math.h>
#include <fcntl.h>
#include <stdio.h>
#include <pthread.h>
#include <sr_utilities/sr_math_utils.hpp>
#include <sr_external_dependencies/types_for_external.h>
#include <boost/static_assert.hpp>

Include dependency graph for sr_edc_muscle.cpp:

Go to the source code of this file.

Namespaces
	is_edc_command_32_bits

Macros
#define	ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS   PALM_0300_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS
#define	ETHERCAT_CAN_BRIDGE_DATA_SIZE   sizeof(ETHERCAT_CAN_BRIDGE_DATA)
#define	ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS   PALM_0300_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS
#define	ETHERCAT_COMMAND_DATA_ADDRESS   PALM_0300_ETHERCAT_COMMAND_DATA_ADDRESS
#define	ETHERCAT_COMMAND_DATA_SIZE   sizeof(ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND)
#define	ETHERCAT_STATUS_DATA_ADDRESS   PALM_0300_ETHERCAT_STATUS_DATA_ADDRESS
#define	ETHERCAT_STATUS_DATA_SIZE   sizeof(ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS)

Functions
	is_edc_command_32_bits::BOOST_STATIC_ASSERT (sizeof(EDC_COMMAND)==4)
	PLUGINLIB_EXPORT_CLASS (SrEdcMuscle, EthercatDevice)

Detailed Description

This is a ROS driver for Shadow Robot EtherCAT dual CAN muscle hand.

Author

Hugo Elias hugo@.nosp@m.shad.nosp@m.owrob.nosp@m.ot.c.nosp@m.om, Ugo Cupcic ugo@s.nosp@m.hado.nosp@m.wrobo.nosp@m.t.co.nosp@m.m, Toni Oliver toni@.nosp@m.shad.nosp@m.owrob.nosp@m.ot.c.nosp@m.om, contact softw.nosp@m.are@.nosp@m.shado.nosp@m.wrob.nosp@m.ot.co.nosp@m.m

/* Copyright 2013 Shadow Robot Company Ltd.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation version 2 of the License.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Definition in file sr_edc_muscle.cpp.

Macro Definition Documentation

ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS

#define ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS   PALM_0300_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS

Definition at line 65 of file sr_edc_muscle.cpp.

ETHERCAT_CAN_BRIDGE_DATA_SIZE

#define ETHERCAT_CAN_BRIDGE_DATA_SIZE   sizeof(ETHERCAT_CAN_BRIDGE_DATA)

Definition at line 61 of file sr_edc_muscle.cpp.

ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS

#define ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS   PALM_0300_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS

Definition at line 66 of file sr_edc_muscle.cpp.

ETHERCAT_COMMAND_DATA_ADDRESS

#define ETHERCAT_COMMAND_DATA_ADDRESS   PALM_0300_ETHERCAT_COMMAND_DATA_ADDRESS

Definition at line 63 of file sr_edc_muscle.cpp.

ETHERCAT_COMMAND_DATA_SIZE

#define ETHERCAT_COMMAND_DATA_SIZE   sizeof(ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND)

Definition at line 59 of file sr_edc_muscle.cpp.

ETHERCAT_STATUS_DATA_ADDRESS

#define ETHERCAT_STATUS_DATA_ADDRESS   PALM_0300_ETHERCAT_STATUS_DATA_ADDRESS

Definition at line 64 of file sr_edc_muscle.cpp.

ETHERCAT_STATUS_DATA_SIZE

#define ETHERCAT_STATUS_DATA_SIZE   sizeof(ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS)

Definition at line 58 of file sr_edc_muscle.cpp.

Function Documentation

PLUGINLIB_EXPORT_CLASS()

PLUGINLIB_EXPORT_CLASS	(	SrEdcMuscle	,
		EthercatDevice
	)