Wrapper class around the KNI (Katana Native Library). More...

#include <Katana.h>

Inheritance diagram for katana::Katana:

Public Member Functions
virtual bool	allJointsReady ()
virtual bool	allMotorsReady ()
virtual bool	executeTrajectory (boost::shared_ptr< SpecifiedTrajectory > traj, boost::function< bool()> isPreemptRequested)
virtual void	freezeRobot ()
	Katana ()
virtual bool	moveJoint (int jointIndex, double turningAngle)
void	refreshEncoders ()
virtual void	refreshMotorStatus ()
virtual void	setLimits (void)
virtual bool	someMotorCrashed ()
virtual void	testSpeed ()
virtual	~Katana ()
Protected Member Functions
short	round (const double x)
Protected Attributes
KNIConverter *	converter
boost::shared_ptr< CLMBase >	kni
boost::recursive_mutex	kni_mutex
std::vector< TMotStsFlg >	motor_status_
Private Member Functions
void	calibrate ()
bool	switchMotorsOff (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
bool	switchMotorsOn (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
bool	testSpeedSrv (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
Private Attributes
CCdlBase *	device
ros::Time	last_encoder_update_
CCplSerialCRC *	protocol
ros::ServiceServer	switch_motors_off_srv_
ros::ServiceServer	switch_motors_on_srv_
ros::ServiceServer	test_speed_srv_

Detailed Description

Wrapper class around the KNI (Katana Native Library).

All access to the Katana hardware should happen through this class. There must always be only one instance of this class. This class should be thread-safe.

Definition at line 48 of file Katana.h.

Constructor & Destructor Documentation

katana::Katana::Katana ( )

Definition at line 31 of file Katana.cpp.

katana::Katana::~Katana ( ) [virtual]

Definition at line 133 of file Katana.cpp.

Member Function Documentation

bool katana::Katana::allJointsReady ( ) [virtual]

Implements katana::AbstractKatana.

Reimplemented in katana::Katana300.

Definition at line 505 of file Katana.cpp.

bool katana::Katana::allMotorsReady ( ) [virtual]

Implements katana::AbstractKatana.

Reimplemented in katana::Katana300.

Definition at line 516 of file Katana.cpp.

void katana::Katana::calibrate ( void ) [private]

Definition at line 540 of file Katana.cpp.

bool katana::Katana::executeTrajectory	(	boost::shared_ptr< SpecifiedTrajectory >	traj,
		boost::function< bool()>	isPreemptRequested
	)		`[virtual]`

Sends the spline parameters to the Katana.

Parameters:

traj

Implements katana::AbstractKatana.

Reimplemented in katana::Katana300.

Definition at line 286 of file Katana.cpp.

void katana::Katana::freezeRobot ( ) [virtual]

Reimplemented from katana::AbstractKatana.

Reimplemented in katana::Katana300.

Definition at line 454 of file Katana.cpp.

bool katana::Katana::moveJoint	(	int	jointIndex,
		double	turningAngle
	)		`[virtual]`

Move the joint to the desired angle. Do not wait for result, but return immediately.

Parameters:

jointIndex	the joint to move
turningAngle	the target angle

Returns:: true iff command was successfully sent to Katana

Implements katana::AbstractKatana.

Reimplemented in katana::Katana300.

Definition at line 461 of file Katana.cpp.

void katana::Katana::refreshEncoders ( ) [virtual]

Implements katana::AbstractKatana.

Definition at line 155 of file Katana.cpp.

void katana::Katana::refreshMotorStatus ( ) [virtual]

Reimplemented from katana::AbstractKatana.

Reimplemented in katana::Katana300.

Definition at line 228 of file Katana.cpp.

short katana::Katana::round ( const double x ) [inline, protected]

Round to nearest integer.

Definition at line 532 of file Katana.cpp.

void katana::Katana::setLimits ( void ) [virtual]

Reimplemented in katana::Katana300.

Definition at line 145 of file Katana.cpp.

bool katana::Katana::someMotorCrashed ( ) [virtual]

Implements katana::AbstractKatana.

Definition at line 494 of file Katana.cpp.

bool katana::Katana::switchMotorsOff	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)		`[private]`

This service is dangerous to call! It will switch all motors off. If the arm is not in a stable position, it will crash down, potentially damaging itself or the environment!

Definition at line 584 of file Katana.cpp.