#include <movement_publisher.hpp>

Public Member Functions
void	add_movement (PartialMovement mvt)

void	calculateErrorCallback (const control_msgs::JointControllerState::ConstPtr &msg)

void	execute_step (int index_mvt_step, int index_partial_movement)

std::string	get_subscriber_topic ()

	MovementPublisher (std::string joint_name, double rate=100.0, unsigned int repetition=1, unsigned int nb_mvt_step=1000, std::string controller_type="", bool testing=false, HandCommander *hand_commander=NULL)

	MovementPublisher (double min_value=0.0, double max_value=1.5, double rate=100.0, unsigned int repetition=1, unsigned int nb_mvt_step=1000, std::string controller_type="")

void	set_publisher (ros::Publisher publisher)

void	set_subscriber (ros::Subscriber subscriber)

void	sr_calculateErrorCallback (const sr_robot_msgs::JointControllerState::ConstPtr &msg)

void	start ()

void	stop ()

virtual	~MovementPublisher ()

Protected Member Functions
void	publish_ ()

void	subscribe_and_default_pub_ (std::string input)

Protected Attributes
std::string	controller_type

boost::shared_ptr< HandCommander >	hand_commander_

std::string	joint_name_

std::vector< sr_robot_msgs::joint >	joint_vector_

double	last_target_

double	max

double	min

double	MSError_

std_msgs::Float64	msg

unsigned int	n_samples_

unsigned int	nb_mvt_step

ros::NodeHandle	nh_tilde

std::vector< PartialMovement >	partial_movements

ros::Publisher	pub

ros::Publisher	pub_mse_

ros::Rate	publishing_rate

unsigned int	repetition

double	SError_

ros::Subscriber	sub_

Detailed Description

Definition at line 44 of file movement_publisher.hpp.

Constructor & Destructor Documentation

◆ MovementPublisher() [1/2]

shadowrobot::MovementPublisher::MovementPublisher	(	std::string	joint_name,
		double	rate = `100.0`,
		unsigned int	repetition = `1`,
		unsigned int	nb_mvt_step = `1000`,
		std::string	controller_type = `""`,
		bool	testing = `false`,
		HandCommander *	hand_commander = `NULL`
	)

This is the constructor used when providing a joint name. It automatically extracts the min and max + subscriber / publishers from the HandCommander.

Parameters

joint_name	the name of the joint we want to move.
rate	rate at which the targets should be published.
repetition	number of times the movement should be repeated
nb_mvt_step	number of steps we take in the image
controller_type	the type of controller ("sr" or "ros")
testing	set to true when running a gazebo test (just adds a long sleep).
hand_commander	helper for controlling the shadow hand

Definition at line 37 of file movement_publisher.cpp.

◆ MovementPublisher() [2/2]

shadowrobot::MovementPublisher::MovementPublisher	(	double	min_value = `0.0`,
		double	max_value = `1.5`,
		double	rate = `100.0`,
		unsigned int	repetition = `1`,
		unsigned int	nb_mvt_step = `1000`,
		std::string	controller_type = `""`
	)

Definition at line 70 of file movement_publisher.cpp.

◆ ~MovementPublisher()

shadowrobot::MovementPublisher::~MovementPublisher ( )

virtual

Definition at line 98 of file movement_publisher.cpp.

Member Function Documentation

◆ add_movement()

void shadowrobot::MovementPublisher::add_movement ( PartialMovement mvt )

Definition at line 216 of file movement_publisher.cpp.

◆ calculateErrorCallback()

void shadowrobot::MovementPublisher::calculateErrorCallback ( const control_msgs::JointControllerState::ConstPtr & msg )

Used to listen to a control_msgs::JointControllerState and calculate the mean square error of every movement repetition

Parameters

msg	the current state of the controller.

Definition at line 163 of file movement_publisher.cpp.

◆ execute_step()

void shadowrobot::MovementPublisher::execute_step	(	int	index_mvt_step,
		int	index_partial_movement
	)

Allows the user to control the movement step by step.

Definition at line 175 of file movement_publisher.cpp.

◆ get_subscriber_topic()

std::string shadowrobot::MovementPublisher::get_subscriber_topic ( )

Definition at line 231 of file movement_publisher.cpp.

◆ publish_()

void shadowrobot::MovementPublisher::publish_ ( )

protected

Publishes the message, using either the HandCommander (recommended) or the previous approach, using directly a remapped publisher.

Definition at line 198 of file movement_publisher.cpp.

◆ set_publisher()

void shadowrobot::MovementPublisher::set_publisher ( ros::Publisher publisher )

Definition at line 221 of file movement_publisher.cpp.

◆ set_subscriber()

void shadowrobot::MovementPublisher::set_subscriber ( ros::Subscriber subscriber )

Definition at line 226 of file movement_publisher.cpp.

◆ sr_calculateErrorCallback()

void shadowrobot::MovementPublisher::sr_calculateErrorCallback ( const sr_robot_msgs::JointControllerState::ConstPtr & msg )

Used to listen to a sr_robot_msgs::JointControllerState and calculate the mean square error of every movement repetition

Parameters

msg	the current state of the controller.

Definition at line 151 of file movement_publisher.cpp.

◆ start()

void shadowrobot::MovementPublisher::start ( )

Definition at line 101 of file movement_publisher.cpp.

◆ stop()

void shadowrobot::MovementPublisher::stop ( )

Definition at line 213 of file movement_publisher.cpp.

◆ subscribe_and_default_pub_()

void shadowrobot::MovementPublisher::subscribe_and_default_pub_ ( std::string input )

protected

Subscribes with the correct type (based on controller_type_) to the given topic. Also initialises the MSE publisher.

Parameters

input Topic to which we're subscribing.

Definition at line 82 of file movement_publisher.cpp.

Member Data Documentation

◆ controller_type

std::string shadowrobot::MovementPublisher::controller_type

protected

Definition at line 141 of file movement_publisher.hpp.

◆ hand_commander_

boost::shared_ptr<HandCommander> shadowrobot::MovementPublisher::hand_commander_

protected

Definition at line 120 of file movement_publisher.hpp.

◆ joint_name_

std::string shadowrobot::MovementPublisher::joint_name_

protected

Definition at line 121 of file movement_publisher.hpp.

◆ joint_vector_

std::vector<sr_robot_msgs::joint> shadowrobot::MovementPublisher::joint_vector_

protected

Definition at line 134 of file movement_publisher.hpp.

◆ last_target_

double shadowrobot::MovementPublisher::last_target_

protected

Definition at line 135 of file movement_publisher.hpp.

◆ max

double shadowrobot::MovementPublisher::max

protected

Definition at line 131 of file movement_publisher.hpp.

◆ min

double shadowrobot::MovementPublisher::min

protected

Definition at line 131 of file movement_publisher.hpp.

◆ MSError_

double shadowrobot::MovementPublisher::MSError_

protected

Definition at line 139 of file movement_publisher.hpp.

◆ msg

std_msgs::Float64 shadowrobot::MovementPublisher::msg

protected

Definition at line 133 of file movement_publisher.hpp.

◆ n_samples_

unsigned int shadowrobot::MovementPublisher::n_samples_

protected

Definition at line 140 of file movement_publisher.hpp.

◆ nb_mvt_step

unsigned int shadowrobot::MovementPublisher::nb_mvt_step

protected

Definition at line 137 of file movement_publisher.hpp.

◆ nh_tilde

ros::NodeHandle shadowrobot::MovementPublisher::nh_tilde

protected

Definition at line 124 of file movement_publisher.hpp.

◆ partial_movements

std::vector<PartialMovement> shadowrobot::MovementPublisher::partial_movements

protected

Definition at line 123 of file movement_publisher.hpp.

◆ pub

ros::Publisher shadowrobot::MovementPublisher::pub

protected

Definition at line 125 of file movement_publisher.hpp.

◆ pub_mse_

ros::Publisher shadowrobot::MovementPublisher::pub_mse_

protected

Definition at line 126 of file movement_publisher.hpp.

◆ publishing_rate

ros::Rate shadowrobot::MovementPublisher::publishing_rate

protected

Definition at line 129 of file movement_publisher.hpp.

◆ repetition

unsigned int shadowrobot::MovementPublisher::repetition

protected

Definition at line 130 of file movement_publisher.hpp.

◆ SError_

double shadowrobot::MovementPublisher::SError_

protected

Definition at line 138 of file movement_publisher.hpp.

◆ sub_

ros::Subscriber shadowrobot::MovementPublisher::sub_

protected

Definition at line 127 of file movement_publisher.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MovementPublisher() [1/2]

◆ MovementPublisher() [2/2]

◆ ~MovementPublisher()

Member Function Documentation

◆ add_movement()

◆ calculateErrorCallback()

◆ execute_step()

◆ get_subscriber_topic()

◆ publish_()

◆ set_publisher()

◆ set_subscriber()

◆ sr_calculateErrorCallback()

◆ start()

◆ stop()

◆ subscribe_and_default_pub_()

Member Data Documentation

◆ controller_type

◆ hand_commander_

◆ joint_name_

◆ joint_vector_

◆ last_target_

◆ max

◆ min

◆ MSError_

◆ msg

◆ n_samples_

◆ nb_mvt_step

◆ nh_tilde

◆ partial_movements

◆ pub

◆ pub_mse_

◆ publishing_rate

◆ repetition

◆ SError_

◆ sub_