#include <sr_muscle_hand_lib.hpp>

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

Public Member Functions
bool	reset_muscle_driver_callback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response, int muscle_driver_index)

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

Public Member Functions inherited from shadow_robot::SrMuscleRobotLib< StatusType, CommandType >
void	add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)

void	build_command (CommandType *command)

void	reinitialize_motors ()

	SrMuscleRobotLib (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 ()

Protected Member Functions
virtual void	initialize (std::vector< std::string > joint_names, std::vector< int > actuator_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors)

void	initialize (std::vector< std::string > joint_names, std::vector< shadow_joints::JointToMuscle > actuator_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors)

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

bool	check_muscle_driver_data_received_flags ()

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

unsigned int	get_muscle_pressure (int muscle_driver_id, int muscle_id, StatusType *status_data)

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

void	init_timer_callback (const ros::TimerEvent &event)

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

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

void	read_muscle_driver_data (std::vector< shadow_joints::MuscleDriver >::iterator muscle_driver_tmp, StatusType *status_data)

virtual shadow_joints::CalibrationMap	read_pressure_calibration ()

void	set_muscle_driver_data_received_flags (unsigned int msg_type, int muscle_driver_id)

void	set_valve_demand (uint8_t *muscle_data_byte_to_set, int8_t valve_value, uint8_t shifting_index)

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)

Private Member Functions
std::vector< shadow_joints::JointToMuscle >	read_joint_to_muscle_mapping ()

Static Private Attributes
static const char *	human_readable_muscle_data_types []

static const int32u	muscle_data_types []

static const int	nb_muscle_data = 3

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

Public Attributes inherited from shadow_robot::SrMuscleRobotLib< StatusType, CommandType >
operation_mode::device_update_state::DeviceUpdateState	muscle_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

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

Protected Attributes inherited from shadow_robot::SrMuscleRobotLib< StatusType, CommandType >
ros::Timer	check_init_timeout_timer

std::map< unsigned int, unsigned int >	from_muscle_driver_data_received_flags_

ros::Duration	init_max_duration

boost::shared_ptr< boost::mutex >	lock_init_timeout_

std::vector< shadow_joints::MuscleDriver >	muscle_drivers_vector_

std::vector< generic_updater::UpdateConfig >	muscle_update_rate_configs_vector

boost::shared_ptr< generic_updater::MuscleUpdater< CommandType > >	muscle_updater_

shadow_joints::CalibrationMap	pressure_calibration_map_
	The map used to calibrate each pressure sensor. More...

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

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

Static Protected Attributes inherited from shadow_robot::SrMuscleRobotLib< StatusType, CommandType >
static const double	timeout = 5.0

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::SrMuscleHandLib< StatusType, CommandType >

Definition at line 43 of file sr_muscle_hand_lib.hpp.

Constructor & Destructor Documentation

◆ SrMuscleHandLib()

template<class StatusType , class CommandType >

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

Definition at line 78 of file sr_muscle_hand_lib.cpp.

Member Function Documentation

◆ initialize() [1/2]

template<class StatusType , class CommandType >

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

protectedvirtual

Implements shadow_robot::SrMuscleRobotLib< StatusType, CommandType >.

◆ initialize() [2/2]

template<class StatusType , class CommandType >

void shadow_robot::SrMuscleHandLib< StatusType, CommandType >::initialize	(	std::vector< std::string >	joint_names,
		std::vector< shadow_joints::JointToMuscle >	actuator_ids,
		std::vector< shadow_joints::JointToSensor >	joint_to_sensors
	)

protected

◆ read_joint_to_muscle_mapping()

template<class StatusType , class CommandType >

vector< JointToMuscle > shadow_robot::SrMuscleHandLib< StatusType, CommandType >::read_joint_to_muscle_mapping ( )

private

Definition at line 201 of file sr_muscle_hand_lib.cpp.

◆ reset_muscle_driver_callback()

template<class StatusType , class CommandType >

bool shadow_robot::SrMuscleHandLib< StatusType, CommandType >::reset_muscle_driver_callback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response,
		int	muscle_driver_index
	)

Definition at line 189 of file sr_muscle_hand_lib.cpp.

Member Data Documentation

◆ human_readable_muscle_data_types

template<class StatusType , class CommandType >

const char * shadow_robot::SrMuscleHandLib< StatusType, CommandType >::human_readable_muscle_data_types

staticprivate

Initial value:

=
  {
          "muscle_data_pressure",
          "muscle_data_can_stats",
          "muscle_data_slow_misc"
  }

Definition at line 111 of file sr_muscle_hand_lib.hpp.

◆ muscle_data_types

template<class StatusType , class CommandType >

const int32u shadow_robot::SrMuscleHandLib< StatusType, CommandType >::muscle_data_types

staticprivate

Initial value:

=
  {
    MUSCLE_DATA_PRESSURE,
    MUSCLE_DATA_CAN_STATS,
    MUSCLE_DATA_SLOW_MISC
  }

Definition at line 112 of file sr_muscle_hand_lib.hpp.

◆ nb_muscle_data

template<class StatusType , class CommandType >

const int shadow_robot::SrMuscleHandLib< StatusType, CommandType >::nb_muscle_data = 3

staticprivate

Definition at line 110 of file sr_muscle_hand_lib.hpp.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Static Private Attributes

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

◆ SrMuscleHandLib()

Member Function Documentation

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ read_joint_to_muscle_mapping()

◆ reset_muscle_driver_callback()

Member Data Documentation

◆ human_readable_muscle_data_types

◆ muscle_data_types

◆ nb_muscle_data

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