#include <sr_motor_robot_lib.hpp>

Inheritance diagram for shadow_robot::SrMotorRobotLib< StatusType, CommandType >:

Public Member Functions
void	add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)

void	build_command (CommandType *command)

void	reinitialize_motors ()

	SrMotorRobotLib (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh, ros::NodeHandle nhtilde, std::string device_id, std::string joint_prefix)

void	update (StatusType *status_data)

Public Member Functions inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
void	build_tactile_command (CommandType *command)

bool	nullify_demand_callback (sr_robot_msgs::NullifyDemand::Request &request, sr_robot_msgs::NullifyDemand::Response &response)

void	reinitialize_sensors ()

	SrRobotLib (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh, ros::NodeHandle nhtilde, std::string device_id, std::string joint_prefix)

void	update_tactile_info (StatusType *status)

virtual	~SrRobotLib ()

Public Attributes
operation_mode::device_update_state::DeviceUpdateState	motor_current_state

Public Attributes inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
shadow_joints::CalibrationMap	calibration_map
	The map used to calibrate each joint. More...

CoupledJointMapType	coupled_calibration_map

ros_ethercat_model::RobotState *	hw_

boost::shared_ptr< boost::mutex >	lock_tactile_init_timeout_
	A mutual exclusion object to ensure that the intitialization timeout event does work without threading issues. More...

int	main_pic_idle_time

int	main_pic_idle_time_min

ros::Timer	tactile_check_init_timeout_timer

operation_mode::device_update_state::DeviceUpdateState	tactile_current_state

ros::Duration	tactile_init_max_duration

boost::shared_ptr< tactiles::GenericTactiles< StatusType, CommandType > >	tactiles

boost::shared_ptr< tactiles::GenericTactiles< StatusType, CommandType > >	tactiles_init

Protected Types
typedef std::pair< int, std::vector< crc_unions::union16 > >	ForceConfig

Protected Member Functions
void	calibrate_joint (std::vector< shadow_joints::Joint >::iterator joint_tmp, StatusType *status_data)

bool	change_control_parameters (int16_t control_type)

bool	change_control_type_callback_ (sr_robot_msgs::ChangeControlType::Request &request, sr_robot_msgs::ChangeControlType::Response &response)

bool	check_if_joint_coupled (string joint_name)

int	find_joint_by_name (string joint_name)

void	generate_force_control_config (int motor_index, int max_pwm, int sg_left, int sg_right, int f, int p, int i, int d, int imax, int deadband, int sign, int torque_limit, int torque_limiter_gain)

sr_actuator::SrMotorActuator *	get_joint_actuator (std::vector< shadow_joints::Joint >::iterator joint_tmp)

std::vector< std::pair< std::string, bool > >	humanize_flags (int flag)

virtual void	initialize (std::vector< std::string > joint_names, std::vector< int > actuator_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors)=0

bool	motor_system_controls_callback_ (sr_robot_msgs::ChangeMotorSystemControls::Request &request, sr_robot_msgs::ChangeMotorSystemControls::Response &response)

void	process_position_sensor_data (std::vector< shadow_joints::Joint >::iterator joint_tmp, StatusType *status_data, double timestamp)

void	read_additional_data (std::vector< shadow_joints::Joint >::iterator joint_tmp, StatusType *status_data)

Protected Member Functions inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
void	checkSelfTests ()
	It is run in a separate thread and calls the checkTests() method of the self_tests_. More...

CoupledJointMapType	read_coupled_joint_calibration ()

shadow_joints::CalibrationMap	read_joint_calibration ()

std::vector< shadow_joints::JointToSensor >	read_joint_to_sensor_mapping ()

std::vector< generic_updater::UpdateConfig >	read_update_rate_configs (std::string base_param, int nb_data_defined, const char *human_readable_data_types[], const int32u data_types[])

void	tactile_init_timer_callback (const ros::TimerEvent &event)

Protected Attributes
ros::ServiceServer	change_control_type_

int	config_index

sr_robot_msgs::ControlType	control_type_

bool	control_type_changed_flag_

int8u	crc_byte

int8u	crc_i

int16u	crc_result

int	index_motor_in_msg

boost::shared_ptr< boost::mutex >	lock_command_sending_

boost::shared_ptr< generic_updater::MotorDataChecker >	motor_data_checker

int	motor_index_full

std::queue< std::vector< sr_robot_msgs::MotorSystemControls >, std::list< std::vector< sr_robot_msgs::MotorSystemControls > > >	motor_system_control_flags_

ros::ServiceServer	motor_system_control_server_

std::vector< generic_updater::UpdateConfig >	motor_update_rate_configs_vector

boost::shared_ptr< generic_updater::MotorUpdater< CommandType > >	motor_updater_

std::queue< ForceConfig, std::list< ForceConfig > >	reconfig_queue

std::queue< int16_t, std::list< int16_t > >	reset_motors_queue

Protected Attributes inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
std::vector< generic_updater::UpdateConfig >	biotac_sensor_update_rate_configs_vector

boost::shared_ptr< shadow_robot::JointCalibration >	calibration_tmp
	A temporary calibration for a given joint. More...

std::string	device_id_
	Id of the ethercat device (alias) More...

std::vector< generic_updater::UpdateConfig >	generic_sensor_update_rate_configs_vector

std::string	joint_prefix_
	Prefix used to access the joints. More...

std::vector< shadow_joints::Joint >	joints_vector
	The vector containing all the robot joints. More...

ros::NodeHandle	nh_tilde
	a ROS nodehandle (private naming, only inside the node namespace) to be able to advertise the Force PID service More...

ros::NodeHandle	nodehandle_
	a ros nodehandle to be able to access resources out of the node namespace More...

bool	nullify_demand_

ros::ServiceServer	nullify_demand_server_

std::vector< generic_updater::UpdateConfig >	pst3_sensor_update_rate_configs_vector

boost::shared_ptr< boost::thread >	self_test_thread_

std::vector< generic_updater::UpdateConfig >	ubi0_sensor_update_rate_configs_vector

Additional Inherited Members
Public Types inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
typedef std::map< std::string, CoupledJoint >	CoupledJointMapType

Static Public Attributes inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
static const double	tactile_timeout = 10.0
	Timeout handling variables for UBI sensors. More...

Static Protected Attributes inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
static const char *	human_readable_sensor_data_types []

static const int	nb_sensor_data = 37

static const int32u	sensor_data_types []

Detailed Description

template<class StatusType, class CommandType>
class shadow_robot::SrMotorRobotLib< StatusType, CommandType >

Definition at line 49 of file sr_motor_robot_lib.hpp.

Member Typedef Documentation

◆ ForceConfig

template<class StatusType, class CommandType>

typedef std::pair<int, std::vector<crc_unions::union16> > shadow_robot::SrMotorRobotLib< StatusType, CommandType >::ForceConfig

protected

Definition at line 186 of file sr_motor_robot_lib.hpp.

Constructor & Destructor Documentation

◆ SrMotorRobotLib()

template<class StatusType, class CommandType>

shadow_robot::SrMotorRobotLib< StatusType, CommandType >::SrMotorRobotLib	(	hardware_interface::HardwareInterface *	hw,
		ros::NodeHandle	nh,
		ros::NodeHandle	nhtilde,
		std::string	device_id,
		std::string	joint_prefix
	)

Definition at line 61 of file sr_motor_robot_lib.cpp.

Member Function Documentation

◆ add_diagnostics()

template<class StatusType, class CommandType>

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::add_diagnostics	(	std::vector< diagnostic_msgs::DiagnosticStatus > &	vec,
		diagnostic_updater::DiagnosticStatusWrapper &	d
	)

virtual

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Definition at line 471 of file sr_motor_robot_lib.cpp.

◆ build_command()

template<class StatusType , class CommandType>

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::build_command ( CommandType * command )

virtual

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Definition at line 196 of file sr_motor_robot_lib.cpp.

◆ calibrate_joint()

template<class StatusType, class CommandType>

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::calibrate_joint	(	std::vector< shadow_joints::Joint >::iterator	joint_tmp,
		StatusType *	status_data
	)

protectedvirtual

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Definition at line 918 of file sr_motor_robot_lib.cpp.

◆ change_control_parameters()

template<class StatusType , class CommandType >

bool shadow_robot::SrMotorRobotLib< StatusType, CommandType >::change_control_parameters ( int16_t control_type )

protected

Definition at line 1220 of file sr_motor_robot_lib.cpp.

◆ change_control_type_callback_()

template<class StatusType , class CommandType >

bool shadow_robot::SrMotorRobotLib< StatusType, CommandType >::change_control_type_callback_	(	sr_robot_msgs::ChangeControlType::Request &	request,
		sr_robot_msgs::ChangeControlType::Response &	response
	)

protected

Definition at line 1165 of file sr_motor_robot_lib.cpp.

◆ check_if_joint_coupled()

template<class StatusType , class CommandType >

bool shadow_robot::SrMotorRobotLib< StatusType, CommandType >::check_if_joint_coupled ( string joint_name )

protected

Definition at line 1008 of file sr_motor_robot_lib.cpp.

◆ find_joint_by_name()

template<class StatusType , class CommandType >

int shadow_robot::SrMotorRobotLib< StatusType, CommandType >::find_joint_by_name ( string joint_name )

protected

Definition at line 1330 of file sr_motor_robot_lib.cpp.

◆ generate_force_control_config()

template<class StatusType , class CommandType >

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::generate_force_control_config	(	int	motor_index,
		int	max_pwm,
		int	sg_left,
		int	sg_right,
		int	f,
		int	p,
		int	i,
		int	d,
		int	imax,
		int	deadband,
		int	sign,
		int	torque_limit,
		int	torque_limiter_gain
	)

protected

Definition at line 1064 of file sr_motor_robot_lib.cpp.

◆ get_joint_actuator()

template<class StatusType, class CommandType>

sr_actuator::SrMotorActuator* shadow_robot::SrMotorRobotLib< StatusType, CommandType >::get_joint_actuator ( std::vector< shadow_joints::Joint >::iterator joint_tmp )

inlineprotectedvirtual

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Definition at line 168 of file sr_motor_robot_lib.hpp.

◆ humanize_flags()

template<class StatusType , class CommandType >

vector< pair< string, bool > > shadow_robot::SrMotorRobotLib< StatusType, CommandType >::humanize_flags ( int flag )

protected

Definition at line 1036 of file sr_motor_robot_lib.cpp.

◆ initialize()

template<class StatusType, class CommandType>

virtual void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::initialize	(	std::vector< std::string >	joint_names,
		std::vector< int >	actuator_ids,
		std::vector< shadow_joints::JointToSensor >	joint_to_sensors
	)

protectedpure virtual

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Implemented in shadow_robot::SrMotorHandLib< StatusType, CommandType >, and shadow_robot::SrMotorHandLib< STATUS_TYPE, COMMAND_TYPE >.

◆ motor_system_controls_callback_()

template<class StatusType , class CommandType >

bool shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_system_controls_callback_	(	sr_robot_msgs::ChangeMotorSystemControls::Request &	request,
		sr_robot_msgs::ChangeMotorSystemControls::Response &	response
	)

protected

Definition at line 1296 of file sr_motor_robot_lib.cpp.

◆ process_position_sensor_data()

template<class StatusType, class CommandType>

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::process_position_sensor_data	(	std::vector< shadow_joints::Joint >::iterator	joint_tmp,
		StatusType *	status_data,
		double	timestamp
	)

protected

Definition at line 1018 of file sr_motor_robot_lib.cpp.

◆ read_additional_data()

template<class StatusType, class CommandType>

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::read_additional_data	(	std::vector< shadow_joints::Joint >::iterator	joint_tmp,
		StatusType *	status_data
	)

protected

Definition at line 612 of file sr_motor_robot_lib.cpp.

◆ reinitialize_motors()

template<class StatusType , class CommandType >

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::reinitialize_motors ( )

Definition at line 1152 of file sr_motor_robot_lib.cpp.

◆ update()

template<class StatusType, class CommandType >

void shadow_robot::SrMotorRobotLib< StatusType, CommandType >::update ( StatusType * status_data )

virtual

Implements shadow_robot::SrRobotLib< StatusType, CommandType >.

Definition at line 104 of file sr_motor_robot_lib.cpp.

Member Data Documentation

◆ change_control_type_

template<class StatusType, class CommandType>

ros::ServiceServer shadow_robot::SrMotorRobotLib< StatusType, CommandType >::change_control_type_

protected

Definition at line 226 of file sr_motor_robot_lib.hpp.

◆ config_index

template<class StatusType, class CommandType>

int shadow_robot::SrMotorRobotLib< StatusType, CommandType >::config_index

protected

Definition at line 192 of file sr_motor_robot_lib.hpp.

◆ control_type_

template<class StatusType, class CommandType>

sr_robot_msgs::ControlType shadow_robot::SrMotorRobotLib< StatusType, CommandType >::control_type_

protected

Definition at line 215 of file sr_motor_robot_lib.hpp.

◆ control_type_changed_flag_

template<class StatusType, class CommandType>

bool shadow_robot::SrMotorRobotLib< StatusType, CommandType >::control_type_changed_flag_

protected

Definition at line 224 of file sr_motor_robot_lib.hpp.

◆ crc_byte

template<class StatusType, class CommandType>

int8u shadow_robot::SrMotorRobotLib< StatusType, CommandType >::crc_byte

protected

Definition at line 203 of file sr_motor_robot_lib.hpp.

◆ crc_i

template<class StatusType, class CommandType>

int8u shadow_robot::SrMotorRobotLib< StatusType, CommandType >::crc_i

protected

Definition at line 205 of file sr_motor_robot_lib.hpp.

◆ crc_result

template<class StatusType, class CommandType>

int16u shadow_robot::SrMotorRobotLib< StatusType, CommandType >::crc_result

protected

Definition at line 204 of file sr_motor_robot_lib.hpp.

◆ index_motor_in_msg

template<class StatusType, class CommandType>

int shadow_robot::SrMotorRobotLib< StatusType, CommandType >::index_motor_in_msg

protected

Definition at line 201 of file sr_motor_robot_lib.hpp.

◆ lock_command_sending_

template<class StatusType, class CommandType>

boost::shared_ptr<boost::mutex> shadow_robot::SrMotorRobotLib< StatusType, CommandType >::lock_command_sending_

protected

Definition at line 229 of file sr_motor_robot_lib.hpp.

◆ motor_current_state

template<class StatusType, class CommandType>

operation_mode::device_update_state::DeviceUpdateState shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_current_state

Definition at line 88 of file sr_motor_robot_lib.hpp.

◆ motor_data_checker

template<class StatusType, class CommandType>

boost::shared_ptr<generic_updater::MotorDataChecker> shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_data_checker

protected

Definition at line 211 of file sr_motor_robot_lib.hpp.

◆ motor_index_full

template<class StatusType, class CommandType>

int shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_index_full

protected

Definition at line 199 of file sr_motor_robot_lib.hpp.

◆ motor_system_control_flags_

template<class StatusType, class CommandType>

std::queue<std::vector<sr_robot_msgs::MotorSystemControls>, std::list<std::vector<sr_robot_msgs::MotorSystemControls> > > shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_system_control_flags_

protected

Definition at line 256 of file sr_motor_robot_lib.hpp.

◆ motor_system_control_server_

template<class StatusType, class CommandType>

ros::ServiceServer shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_system_control_server_

protected

Definition at line 258 of file sr_motor_robot_lib.hpp.

◆ motor_update_rate_configs_vector

template<class StatusType, class CommandType>

std::vector<generic_updater::UpdateConfig> shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_update_rate_configs_vector

protected

Definition at line 209 of file sr_motor_robot_lib.hpp.

◆ motor_updater_

template<class StatusType, class CommandType>

boost::shared_ptr<generic_updater::MotorUpdater<CommandType> > shadow_robot::SrMotorRobotLib< StatusType, CommandType >::motor_updater_

protected

Definition at line 178 of file sr_motor_robot_lib.hpp.

◆ reconfig_queue

template<class StatusType, class CommandType>

std::queue<ForceConfig, std::list<ForceConfig> > shadow_robot::SrMotorRobotLib< StatusType, CommandType >::reconfig_queue

protected

Definition at line 190 of file sr_motor_robot_lib.hpp.

◆ reset_motors_queue

template<class StatusType, class CommandType>

std::queue<int16_t, std::list<int16_t> > shadow_robot::SrMotorRobotLib< StatusType, CommandType >::reset_motors_queue

protected

Definition at line 195 of file sr_motor_robot_lib.hpp.

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

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class StatusType, class CommandType> class shadow_robot::SrMotorRobotLib< StatusType, CommandType >

Member Typedef Documentation

◆ ForceConfig

Constructor & Destructor Documentation

◆ SrMotorRobotLib()

Member Function Documentation

◆ add_diagnostics()

◆ build_command()

◆ calibrate_joint()

◆ change_control_parameters()

◆ change_control_type_callback_()

◆ check_if_joint_coupled()

◆ find_joint_by_name()

◆ generate_force_control_config()

◆ get_joint_actuator()

◆ humanize_flags()

◆ initialize()

◆ motor_system_controls_callback_()

◆ process_position_sensor_data()

◆ read_additional_data()

◆ reinitialize_motors()

◆ update()

Member Data Documentation

◆ change_control_type_

◆ config_index

◆ control_type_

◆ control_type_changed_flag_

◆ crc_byte

◆ crc_i

◆ crc_result

◆ index_motor_in_msg

◆ lock_command_sending_

◆ motor_current_state

◆ motor_data_checker

◆ motor_index_full

◆ motor_system_control_flags_

◆ motor_system_control_server_

◆ motor_update_rate_configs_vector

◆ motor_updater_

◆ reconfig_queue

◆ reset_motors_queue

template<class StatusType, class CommandType>
class shadow_robot::SrMotorRobotLib< StatusType, CommandType >