Public Member Functions | Protected Attributes
tactiles::UBI0< StatusType, CommandType > Class Template Reference

#include <UBI0.hpp>

Inheritance diagram for tactiles::UBI0< StatusType, CommandType >:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)
virtual std::vector
< AllTactileData > * 
get_tactile_data ()
void init (std::vector< generic_updater::UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state)
virtual void publish ()
 UBI0 (std::vector< generic_updater::UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state)
 UBI0 (std::vector< generic_updater::UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state, boost::shared_ptr< std::vector< GenericTactileData > > init_tactiles_vector)
virtual void update (StatusType *status_data)
 ~UBI0 ()

Protected Attributes

boost::shared_ptr
< realtime_tools::RealtimePublisher
< sr_robot_msgs::AuxSpiData > > 
aux_spi_publisher
boost::shared_ptr
< realtime_tools::RealtimePublisher
< sr_robot_msgs::MidProxDataAll > > 
mid_prox_publisher
boost::shared_ptr< UBI0PalmData > palm_tactiles
 the object containing the data from the palm sensors
boost::shared_ptr
< realtime_tools::RealtimePublisher
< sr_robot_msgs::UBI0All > > 
tactile_publisher
boost::shared_ptr< std::vector
< UBI0Data > > 
tactiles_vector
 the vector containing the data for the tactiles.

Detailed Description

template<class StatusType, class CommandType>
class tactiles::UBI0< StatusType, CommandType >

Definition at line 45 of file UBI0.hpp.


Constructor & Destructor Documentation

template<class StatusType , class CommandType >
tactiles::UBI0< StatusType, CommandType >::UBI0 ( std::vector< generic_updater::UpdateConfig update_configs_vector,
operation_mode::device_update_state::DeviceUpdateState  update_state 
)

Definition at line 36 of file UBI0.cpp.

template<class StatusType , class CommandType >
tactiles::UBI0< StatusType, CommandType >::UBI0 ( std::vector< generic_updater::UpdateConfig update_configs_vector,
operation_mode::device_update_state::DeviceUpdateState  update_state,
boost::shared_ptr< std::vector< GenericTactileData > >  init_tactiles_vector 
)

Definition at line 43 of file UBI0.cpp.

template<class StatusType , class CommandType >
tactiles::UBI0< StatusType, CommandType >::~UBI0 ( ) [inline]

Definition at line 51 of file UBI0.hpp.


Member Function Documentation

template<class StatusType , class CommandType >
void tactiles::UBI0< StatusType, CommandType >::add_diagnostics ( std::vector< diagnostic_msgs::DiagnosticStatus > &  vec,
diagnostic_updater::DiagnosticStatusWrapper d 
) [virtual]

This function adds the diagnostics for the tactiles to the multi diagnostic status published by the hand.

Reimplemented from tactiles::GenericTactiles< StatusType, CommandType >.

Definition at line 214 of file UBI0.cpp.

template<class StatusType , class CommandType >
std::vector< AllTactileData > * tactiles::UBI0< StatusType, CommandType >::get_tactile_data ( ) [virtual]

Reimplemented from tactiles::GenericTactiles< StatusType, CommandType >.

Definition at line 239 of file UBI0.cpp.

template<class StatusType , class CommandType >
void tactiles::UBI0< StatusType, CommandType >::init ( std::vector< generic_updater::UpdateConfig update_configs_vector,
operation_mode::device_update_state::DeviceUpdateState  update_state 
)

This function is called in the constructors, to initialize the necessary objects

Definition at line 56 of file UBI0.cpp.

template<class StatusType , class CommandType >
void tactiles::UBI0< StatusType, CommandType >::publish ( ) [virtual]

Publish the information to a ROS topic.

Reimplemented from tactiles::GenericTactiles< StatusType, CommandType >.

Definition at line 159 of file UBI0.cpp.

template<class StatusType , class CommandType >
void tactiles::UBI0< StatusType, CommandType >::update ( StatusType *  status_data) [virtual]

This function is called each time a new etherCAT message is received in the sr06.cpp driver. It updates the tactile sensors values contained in tactiles_vector.

Parameters:
status_datathe received etherCAT message

Reimplemented from tactiles::GenericTactiles< StatusType, CommandType >.

Definition at line 74 of file UBI0.cpp.


Member Data Documentation

template<class StatusType , class CommandType >
boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::AuxSpiData> > tactiles::UBI0< StatusType, CommandType >::aux_spi_publisher [protected]

Definition at line 95 of file UBI0.hpp.

template<class StatusType , class CommandType >
boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::MidProxDataAll> > tactiles::UBI0< StatusType, CommandType >::mid_prox_publisher [protected]

Definition at line 93 of file UBI0.hpp.

template<class StatusType , class CommandType >
boost::shared_ptr< UBI0PalmData > tactiles::UBI0< StatusType, CommandType >::palm_tactiles [protected]

the object containing the data from the palm sensors

Definition at line 88 of file UBI0.hpp.

template<class StatusType , class CommandType >
boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::UBI0All> > tactiles::UBI0< StatusType, CommandType >::tactile_publisher [protected]

Definition at line 91 of file UBI0.hpp.

template<class StatusType , class CommandType >
boost::shared_ptr< std::vector<UBI0Data> > tactiles::UBI0< StatusType, CommandType >::tactiles_vector [protected]

the vector containing the data for the tactiles.

Reimplemented from tactiles::GenericTactiles< StatusType, CommandType >.

Definition at line 85 of file UBI0.hpp.


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


sr_robot_lib
Author(s): Ugo Cupcic / ugo@shadowrobot.com , software@shadowrobot.com
autogenerated on Mon Oct 6 2014 07:37:50