IRI ROS Specific Driver Class. More...

#include <dynamixel_nc_gripper_driver.h>

Inheritance diagram for DynamixelNcGripperDriver:

Public Types
typedef iri_dynamixel_nc_gripper::DynamixelNcGripperConfig	Config
	define config type
Public Member Functions
bool	close_gripper ()
	gripper will perform a closing action (pick)
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	disable_gripper ()
	disables the gripper
	DynamixelNcGripperDriver (void)
	constructor
float	get_current_angle ()
	returns current angle position of the motor
float	get_current_effort ()
	return the current motor effort
bool	is_at_max_angle ()
	returns true if the motor is at the maximum angle
bool	is_at_min_angle ()
	returns true if the motor is at the minimum angle
bool	open_gripper ()
	gripper will perform an opening action (lift)
bool	openDriver (void)
	open driver
void	print_info ()
	prints out servo info
void	scan_XML_files (void)
	Scan for correct configuration xml files.
bool	startDriver (void)
	start driver
void	stop_gripper ()
	ask gripper to stops its motion
bool	stopDriver (void)
	stop driver
	~DynamixelNcGripperDriver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Private Member Functions
bool	move_gripper (const double position_in_radians)
	internal function to perfemor gripper movement
Private Attributes
std::string	full_path_
boost::shared_ptr < CDynamixelGripper >	gripper_
std::string	gripper_config_file_
std::string	xml_path_

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The DynamixelNcGripperDriver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The DynamixelNcGripperConfig.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 55 of file dynamixel_nc_gripper_driver.h.

Member Typedef Documentation

typedef iri_dynamixel_nc_gripper::DynamixelNcGripperConfig DynamixelNcGripperDriver::Config

define config type

Define a Config type with the DynamixelNcGripperConfig. All driver implementations will then use the same variable type Config.

Definition at line 71 of file dynamixel_nc_gripper_driver.h.

Constructor & Destructor Documentation

DynamixelNcGripperDriver::DynamixelNcGripperDriver ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 10 of file dynamixel_nc_gripper_driver.cpp.

DynamixelNcGripperDriver::~DynamixelNcGripperDriver ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 19 of file dynamixel_nc_gripper_driver.cpp.

Member Function Documentation

bool DynamixelNcGripperDriver::close_gripper ( )

gripper will perform a closing action (pick)

Definition at line 127 of file dynamixel_nc_gripper_driver.cpp.

bool DynamixelNcGripperDriver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 68 of file dynamixel_nc_gripper_driver.cpp.

void DynamixelNcGripperDriver::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 83 of file dynamixel_nc_gripper_driver.cpp.

void DynamixelNcGripperDriver::disable_gripper ( )

disables the gripper

Definition at line 169 of file dynamixel_nc_gripper_driver.cpp.

float DynamixelNcGripperDriver::get_current_angle ( void )

returns current angle position of the motor

Definition at line 153 of file dynamixel_nc_gripper_driver.cpp.

float DynamixelNcGripperDriver::get_current_effort ( void )

return the current motor effort

Definition at line 148 of file dynamixel_nc_gripper_driver.cpp.

bool DynamixelNcGripperDriver::is_at_max_angle ( )

returns true if the motor is at the maximum angle

Definition at line 158 of file dynamixel_nc_gripper_driver.cpp.

bool DynamixelNcGripperDriver::is_at_min_angle ( )

returns true if the motor is at the minimum angle

Definition at line 164 of file dynamixel_nc_gripper_driver.cpp.

bool DynamixelNcGripperDriver::move_gripper ( const double position_in_radians ) [private]

internal function to perfemor gripper movement

bool DynamixelNcGripperDriver::open_gripper ( void )

gripper will perform an opening action (lift)

Definition at line 120 of file dynamixel_nc_gripper_driver.cpp.

bool DynamixelNcGripperDriver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 45 of file dynamixel_nc_gripper_driver.cpp.

void DynamixelNcGripperDriver::print_info ( )

prints out servo info

void DynamixelNcGripperDriver::scan_XML_files ( void )

Scan for correct configuration xml files.

Definition at line 23 of file dynamixel_nc_gripper_driver.cpp.

bool DynamixelNcGripperDriver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 73 of file dynamixel_nc_gripper_driver.cpp.

void DynamixelNcGripperDriver::stop_gripper ( )

ask gripper to stops its motion

Definition at line 133 of file dynamixel_nc_gripper_driver.cpp.

bool DynamixelNcGripperDriver::stopDriver ( void ) [virtual]

stop driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.