iros13_hands.py

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#!/usr/bin/env python

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# Author: Isaac Isao Saito

from nextage_ros_bridge.base_toolchanger_hands import BaseToolchangerHands
from nextage_ros_bridge.command.airhand_command import AbsractHandCommand
from nextage_ros_bridge.command.airhand_command import AirhandCommand
from nextage_ros_bridge.command.gripper_command import GripperCommand


class Iros13Hands(BaseToolchangerHands):
    '''
    This class holds methods to operate the hands of NEXTAGE OPEN in a specific
    configuration where a clipping hand on left and suction hand on right
    connected to toolchanger module. This was presented at IROS 2013.
    '''
    # TODO: Unittest is needed!!

    def __init__(self, parent):
        '''
        @see: AbsractIros13Hands.__init__
        '''

        # Instantiating public command classes.
        #
        # There can be at least 2 ways for the Robot client classes
        # (eg. See nextage_client.NextageClient) to call hand commands.
        #
        #  (1) Call directly the 'execute' methods of each command.
        #  (2) Call via interface methods in the hand class.
        #
        # In Iros13Hands class, (1) is used. (1) is faster to implement. And
        # I think it's ok for robot client classes to know what commands exist,
        # without the hand class has the interfaces for comamands. But you can
        # always apply (2) approach, which is cleaner.
        super(Iros13Hands, self).__init__(parent)
        self.airhand_l_command = AirhandCommand(self, self.HAND_L)
        self.airhand_r_command = AirhandCommand(self, self.HAND_R)
        self.gripper_l_command = GripperCommand(self, self.HAND_L)
        self.gripper_r_command = GripperCommand(self, self.HAND_R)