#include <sr_robot_lib.hpp>

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

[legend]

Public Types
typedef std::map< std::string, CoupledJoint >	CoupledJointMapType

Public Member Functions
virtual void	add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)=0

virtual void	build_command (CommandType *command)=0

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)

virtual void	update (StatusType *status_data)=0

void	update_tactile_info (StatusType *status)

virtual	~SrRobotLib ()

Public Attributes
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
static const double	tactile_timeout = 10.0
	Timeout handling variables for UBI sensors. More...

Protected Member Functions
virtual void	calibrate_joint (std::vector< shadow_joints::Joint >::iterator joint_tmp, StatusType *status_data)=0

void	checkSelfTests ()
	It is run in a separate thread and calls the checkTests() method of the self_tests_. More...

virtual ros_ethercat_model::Actuator *	get_joint_actuator (std::vector< shadow_joints::Joint >::iterator joint_tmp)=0

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

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
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
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::SrRobotLib< StatusType, CommandType >

Definition at line 122 of file sr_robot_lib.hpp.

Member Typedef Documentation

◆ CoupledJointMapType

template<class StatusType, class CommandType>

typedef std::map<std::string, CoupledJoint> shadow_robot::SrRobotLib< StatusType, CommandType >::CoupledJointMapType

Definition at line 216 of file sr_robot_lib.hpp.

Constructor & Destructor Documentation

◆ SrRobotLib()

template<class StatusType, class CommandType>

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

Definition at line 170 of file sr_robot_lib.cpp.

◆ ~SrRobotLib()

template<class StatusType, class CommandType>

virtual shadow_robot::SrRobotLib< StatusType, CommandType >::~SrRobotLib ( )

inlinevirtual

Definition at line 128 of file sr_robot_lib.hpp.

Member Function Documentation

◆ add_diagnostics()

template<class StatusType, class CommandType>

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

pure virtual

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

◆ build_command()

template<class StatusType, class CommandType>

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

pure virtual

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

◆ build_tactile_command()

template<class StatusType , class CommandType>

void shadow_robot::SrRobotLib< StatusType, CommandType >::build_tactile_command ( CommandType * command )

Definition at line 271 of file sr_robot_lib.cpp.

◆ calibrate_joint()

template<class StatusType, class CommandType>

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

protectedpure virtual

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

◆ checkSelfTests()

template<class StatusType, class CommandType>

void shadow_robot::SrRobotLib< StatusType, CommandType >::checkSelfTests ( )

protected

It is run in a separate thread and calls the checkTests() method of the self_tests_.

◆ get_joint_actuator()

template<class StatusType, class CommandType>

virtual ros_ethercat_model::Actuator* shadow_robot::SrRobotLib< StatusType, CommandType >::get_joint_actuator ( std::vector< shadow_joints::Joint >::iterator joint_tmp )

protectedpure virtual

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

◆ initialize()

template<class StatusType, class CommandType>

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

protectedpure virtual

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

◆ nullify_demand_callback()

template<class StatusType , class CommandType >

bool shadow_robot::SrRobotLib< StatusType, CommandType >::nullify_demand_callback	(	sr_robot_msgs::NullifyDemand::Request &	request,
		sr_robot_msgs::NullifyDemand::Response &	response
	)

Definition at line 256 of file sr_robot_lib.cpp.

◆ read_coupled_joint_calibration()

template<class StatusType , class CommandType >

SrRobotLib< StatusType, CommandType >::CoupledJointMapType shadow_robot::SrRobotLib< StatusType, CommandType >::read_coupled_joint_calibration ( )

protected

Definition at line 395 of file sr_robot_lib.cpp.

◆ read_joint_calibration()

template<class StatusType , class CommandType >

CalibrationMap shadow_robot::SrRobotLib< StatusType, CommandType >::read_joint_calibration ( )

protected

Definition at line 353 of file sr_robot_lib.cpp.

◆ read_joint_to_sensor_mapping()

template<class StatusType , class CommandType >

vector< JointToSensor > shadow_robot::SrRobotLib< StatusType, CommandType >::read_joint_to_sensor_mapping ( )

protected

Definition at line 462 of file sr_robot_lib.cpp.

◆ read_update_rate_configs()

template<class StatusType, class CommandType>

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

protected

Definition at line 527 of file sr_robot_lib.cpp.

◆ reinitialize_sensors()

template<class StatusType , class CommandType >

void shadow_robot::SrRobotLib< StatusType, CommandType >::reinitialize_sensors ( )

Definition at line 245 of file sr_robot_lib.cpp.

◆ tactile_init_timer_callback()

template<class StatusType , class CommandType >

void shadow_robot::SrRobotLib< StatusType, CommandType >::tactile_init_timer_callback ( const ros::TimerEvent & event )

protected

Definition at line 568 of file sr_robot_lib.cpp.

◆ update()

template<class StatusType, class CommandType>

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

pure virtual

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

◆ update_tactile_info()

template<class StatusType, class CommandType >

void shadow_robot::SrRobotLib< StatusType, CommandType >::update_tactile_info ( StatusType * status )

Definition at line 332 of file sr_robot_lib.cpp.

Member Data Documentation

◆ biotac_sensor_update_rate_configs_vector

template<class StatusType, class CommandType>

std::vector<generic_updater::UpdateConfig> shadow_robot::SrRobotLib< StatusType, CommandType >::biotac_sensor_update_rate_configs_vector

protected

Definition at line 340 of file sr_robot_lib.hpp.

◆ calibration_map

template<class StatusType, class CommandType>

shadow_joints::CalibrationMap shadow_robot::SrRobotLib< StatusType, CommandType >::calibration_map

The map used to calibrate each joint.

Definition at line 364 of file sr_robot_lib.hpp.

◆ calibration_tmp

template<class StatusType, class CommandType>

boost::shared_ptr<shadow_robot::JointCalibration> shadow_robot::SrRobotLib< StatusType, CommandType >::calibration_tmp

protected

A temporary calibration for a given joint.

Definition at line 294 of file sr_robot_lib.hpp.

◆ coupled_calibration_map

template<class StatusType, class CommandType>

CoupledJointMapType shadow_robot::SrRobotLib< StatusType, CommandType >::coupled_calibration_map

Definition at line 365 of file sr_robot_lib.hpp.

◆ device_id_

template<class StatusType, class CommandType>

std::string shadow_robot::SrRobotLib< StatusType, CommandType >::device_id_

protected

Id of the ethercat device (alias)

Definition at line 314 of file sr_robot_lib.hpp.

◆ generic_sensor_update_rate_configs_vector

template<class StatusType, class CommandType>

std::vector<generic_updater::UpdateConfig> shadow_robot::SrRobotLib< StatusType, CommandType >::generic_sensor_update_rate_configs_vector

protected

Definition at line 336 of file sr_robot_lib.hpp.

◆ human_readable_sensor_data_types

template<class StatusType, class CommandType>

const char * shadow_robot::SrRobotLib< StatusType, CommandType >::human_readable_sensor_data_types

staticprotected

Definition at line 345 of file sr_robot_lib.hpp.

◆ hw_

template<class StatusType, class CommandType>

ros_ethercat_model::RobotState* shadow_robot::SrRobotLib< StatusType, CommandType >::hw_

Definition at line 214 of file sr_robot_lib.hpp.

◆ joint_prefix_

template<class StatusType, class CommandType>

std::string shadow_robot::SrRobotLib< StatusType, CommandType >::joint_prefix_

protected

Prefix used to access the joints.

Definition at line 312 of file sr_robot_lib.hpp.

◆ joints_vector

template<class StatusType, class CommandType>

std::vector<shadow_joints::Joint> shadow_robot::SrRobotLib< StatusType, CommandType >::joints_vector

protected

The vector containing all the robot joints.

Definition at line 223 of file sr_robot_lib.hpp.

◆ lock_tactile_init_timeout_

template<class StatusType, class CommandType>

boost::shared_ptr<boost::mutex> shadow_robot::SrRobotLib< StatusType, CommandType >::lock_tactile_init_timeout_

A mutual exclusion object to ensure that the intitialization timeout event does work without threading issues.

Definition at line 359 of file sr_robot_lib.hpp.

◆ main_pic_idle_time

template<class StatusType, class CommandType>

int shadow_robot::SrRobotLib< StatusType, CommandType >::main_pic_idle_time

Definition at line 202 of file sr_robot_lib.hpp.

◆ main_pic_idle_time_min

template<class StatusType, class CommandType>

int shadow_robot::SrRobotLib< StatusType, CommandType >::main_pic_idle_time_min

Definition at line 209 of file sr_robot_lib.hpp.

◆ nb_sensor_data

template<class StatusType, class CommandType>

const int shadow_robot::SrRobotLib< StatusType, CommandType >::nb_sensor_data = 37

staticprotected

Definition at line 344 of file sr_robot_lib.hpp.

◆ nh_tilde

template<class StatusType, class CommandType>

ros::NodeHandle shadow_robot::SrRobotLib< StatusType, CommandType >::nh_tilde

protected

a ROS nodehandle (private naming, only inside the node namespace) to be able to advertise the Force PID service

Definition at line 298 of file sr_robot_lib.hpp.

◆ nodehandle_

template<class StatusType, class CommandType>

ros::NodeHandle shadow_robot::SrRobotLib< StatusType, CommandType >::nodehandle_

protected

a ros nodehandle to be able to access resources out of the node namespace

Definition at line 309 of file sr_robot_lib.hpp.

◆ nullify_demand_

template<class StatusType, class CommandType>

bool shadow_robot::SrRobotLib< StatusType, CommandType >::nullify_demand_

protected

Definition at line 220 of file sr_robot_lib.hpp.

◆ nullify_demand_server_

template<class StatusType, class CommandType>

ros::ServiceServer shadow_robot::SrRobotLib< StatusType, CommandType >::nullify_demand_server_

protected

Definition at line 301 of file sr_robot_lib.hpp.

◆ pst3_sensor_update_rate_configs_vector

template<class StatusType, class CommandType>

std::vector<generic_updater::UpdateConfig> shadow_robot::SrRobotLib< StatusType, CommandType >::pst3_sensor_update_rate_configs_vector

protected

Definition at line 338 of file sr_robot_lib.hpp.

◆ self_test_thread_

template<class StatusType, class CommandType>

boost::shared_ptr<boost::thread> shadow_robot::SrRobotLib< StatusType, CommandType >::self_test_thread_

protected

Definition at line 306 of file sr_robot_lib.hpp.

◆ sensor_data_types

template<class StatusType, class CommandType>

const int32u shadow_robot::SrRobotLib< StatusType, CommandType >::sensor_data_types

staticprotected

Definition at line 346 of file sr_robot_lib.hpp.

◆ tactile_check_init_timeout_timer

template<class StatusType, class CommandType>

ros::Timer shadow_robot::SrRobotLib< StatusType, CommandType >::tactile_check_init_timeout_timer

Definition at line 356 of file sr_robot_lib.hpp.

◆ tactile_current_state

template<class StatusType, class CommandType>

operation_mode::device_update_state::DeviceUpdateState shadow_robot::SrRobotLib< StatusType, CommandType >::tactile_current_state

Definition at line 212 of file sr_robot_lib.hpp.

◆ tactile_init_max_duration

template<class StatusType, class CommandType>

ros::Duration shadow_robot::SrRobotLib< StatusType, CommandType >::tactile_init_max_duration

Definition at line 355 of file sr_robot_lib.hpp.

◆ tactile_timeout

template<class StatusType, class CommandType>

const double shadow_robot::SrRobotLib< StatusType, CommandType >::tactile_timeout = 10.0

static

Timeout handling variables for UBI sensors.

Definition at line 354 of file sr_robot_lib.hpp.

◆ tactiles

template<class StatusType, class CommandType>

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

Definition at line 196 of file sr_robot_lib.hpp.

◆ tactiles_init

template<class StatusType, class CommandType>

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

Definition at line 361 of file sr_robot_lib.hpp.

◆ ubi0_sensor_update_rate_configs_vector

template<class StatusType, class CommandType>

std::vector<generic_updater::UpdateConfig> shadow_robot::SrRobotLib< StatusType, CommandType >::ubi0_sensor_update_rate_configs_vector

protected

Definition at line 342 of file sr_robot_lib.hpp.

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ CoupledJointMapType

Constructor & Destructor Documentation

◆ SrRobotLib()

◆ ~SrRobotLib()

Member Function Documentation

◆ add_diagnostics()

◆ build_command()

◆ build_tactile_command()

◆ calibrate_joint()

◆ checkSelfTests()

◆ get_joint_actuator()

◆ initialize()

◆ nullify_demand_callback()

◆ read_coupled_joint_calibration()

◆ read_joint_calibration()

◆ read_joint_to_sensor_mapping()

◆ read_update_rate_configs()

◆ reinitialize_sensors()

◆ tactile_init_timer_callback()

◆ update()

◆ update_tactile_info()

Member Data Documentation

◆ biotac_sensor_update_rate_configs_vector

◆ calibration_map

◆ calibration_tmp

◆ coupled_calibration_map

◆ device_id_

◆ generic_sensor_update_rate_configs_vector

◆ human_readable_sensor_data_types

◆ hw_

◆ joint_prefix_

◆ joints_vector

◆ lock_tactile_init_timeout_

◆ main_pic_idle_time

◆ main_pic_idle_time_min

◆ nb_sensor_data

◆ nh_tilde

◆ nodehandle_

◆ nullify_demand_

◆ nullify_demand_server_

◆ pst3_sensor_update_rate_configs_vector

◆ self_test_thread_

◆ sensor_data_types

◆ tactile_check_init_timeout_timer

◆ tactile_current_state

◆ tactile_init_max_duration

◆ tactile_timeout

◆ tactiles

◆ tactiles_init

◆ ubi0_sensor_update_rate_configs_vector

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