Public Member Functions
def	__init__
def	actionsToString
def	allState
def	canError
def	closeFingers
def	commandCallback
def	controlLoop
def	emergencyState
def	failureRecover
def	failureState
def	handActions
def	initFailureRecoverTimer
def	initReadTempTimer
def	initState
def	openFingers
def	publishROSstate
def	readTemp
def	readyState
def	rosPublish
def	rosSetup
def	rosShutdown
def	setControlMode
def	setControlModeServiceCb
def	setJointVelocity
def	setup
def	shutdown
def	shutdownState
def	standbyState
def	start
def	stateToString
def	stop
def	strain_to_nm
def	switchToState
Public Attributes
	actions_list
	can_errors
	can_initialized
	control_mode
	desired_freq
	desired_joints_position
	desired_joints_velocity
	failure_recover
	failure_recover_timer
	grasp_mode
	hand
	hand_initialized
	joint_names
	joint_state
	max_can_errors
	msg_state
	msg_tact_array
	new_command
	port
	publish_state_timer
	real_freq
	ros_initialized
	running
	sent_joints_velocity
	state
	t_publish_state
	t_read_temp
	tactile_sensors
	temp_command
	temp_current_sensor
	temp_read_timer
	temp_sensor_number
	temperatures
	time_sleep
	timer_command
	topic_state_name
	watchdog_command
Private Attributes
	_hand_service
	_joints_publisher
	_joints_subscriber
	_set_control_mode_service
	_state_publisher
	_tact_array_publisher

Detailed Description

Definition at line 67 of file bhand_node.py.

Constructor & Destructor Documentation

def bhand_node.BHand.__init__	(	self,
		args
	)

Definition at line 69 of file bhand_node.py.

Member Function Documentation

def bhand_node.BHand.actionsToString	(	self,
		action
	)

        @param action: action to convert
        @type state: bhand_controller.msg.Service
        @returns the equivalent string of the action

Definition at line 725 of file bhand_node.py.

def bhand_node.BHand.allState ( self )

        Actions performed in all states

Definition at line 689 of file bhand_node.py.

def bhand_node.BHand.canError	(	self,
		n
	)

Manages the CAN errors ocurred

@param n: number of produced
@type n: int

@returns: True or false depending on the result

Definition at line 866 of file bhand_node.py.

def bhand_node.BHand.closeFingers	(	self,
		value
	)

        Closes all the fingers

Definition at line 954 of file bhand_node.py.

def bhand_node.BHand.commandCallback	(	self,
		data
	)

        Function called when receive a new value
        @param data: state to convert
        @type data: sensor_msgs.JointState

Definition at line 753 of file bhand_node.py.

def bhand_node.BHand.controlLoop ( self )

        Main loop of the component
        Manages actions by state

Definition at line 295 of file bhand_node.py.

def bhand_node.BHand.emergencyState ( self )

        Actions performed in emergency state

Definition at line 646 of file bhand_node.py.

def bhand_node.BHand.failureRecover ( self )

        Sets the recovery flag TRUE. Function called after timer

Definition at line 893 of file bhand_node.py.

def bhand_node.BHand.failureState ( self )

        Actions performed in failure state

Definition at line 653 of file bhand_node.py.

def bhand_node.BHand.handActions	(	self,
		req
	)

Handles the callback to Actions ROS service. Allows a set of predefined actions like init_hand, close_grasp, ...

@param req: action id to perform
@type req: bhand_controller.srv.Actions

@returns: True or false depending on the result

Definition at line 830 of file bhand_node.py.

def bhand_node.BHand.initFailureRecoverTimer	(	self,
		timer = `5`
	)

        Function to start the timer to recover from FAILURE STATE

Definition at line 885 of file bhand_node.py.

def bhand_node.BHand.initReadTempTimer ( self )

        Function to start the timer to read the temperature

Definition at line 787 of file bhand_node.py.

def bhand_node.BHand.initState ( self )

        Actions performed in init state

Definition at line 368 of file bhand_node.py.

def bhand_node.BHand.openFingers ( self )

        Opens all the fingers

Definition at line 942 of file bhand_node.py.

def bhand_node.BHand.publishROSstate ( self )

        Publish the State of the component at the desired frequency

Definition at line 797 of file bhand_node.py.

def bhand_node.BHand.readTemp ( self )

        Function periodically to enable the read of temperature

Definition at line 774 of file bhand_node.py.

def bhand_node.BHand.readyState ( self )

        Actions performed in ready state

Definition at line 395 of file bhand_node.py.

def bhand_node.BHand.rosPublish ( self )

        Publish topics at standard frequency

Definition at line 348 of file bhand_node.py.

def bhand_node.BHand.rosSetup ( self )

        Creates and inits ROS components

Definition at line 200 of file bhand_node.py.

def bhand_node.BHand.rosShutdown ( self )

        Shutdows all ROS components
        @return: 0 if it's performed successfully, -1 if there's any problem or the component is running

Definition at line 248 of file bhand_node.py.

def bhand_node.BHand.setControlMode	(	self,
		mode
	)

        Configures the hand to work under the desired control mode
        @param mode: new mode
        @type mode: string

Definition at line 923 of file bhand_node.py.

def bhand_node.BHand.setControlModeServiceCb	(	self,
		req
	)

        Sets the hand control mode
        @param req: Requested service
        @type req: bhand_controller.srv.SetControlMode

Definition at line 900 of file bhand_node.py.

def bhand_node.BHand.setJointVelocity	(	self,
		finger
	)

        Sets the joint velocity of the desired joint
        Takes the velocity value from the attribute desired_joints_velocity
        @param joint: finger of the hand (F1, F2, F3, SPREAD)
        @type joint: string

Definition at line 610 of file bhand_node.py.

def bhand_node.BHand.setup ( self )

        Initializes de hand
        @return: True if OK, False otherwise

Definition at line 186 of file bhand_node.py.

def bhand_node.BHand.shutdown ( self )

        Shutdowns device
        @return: 0 if it's performed successfully, -1 if there's any problem or the component is running

Definition at line 226 of file bhand_node.py.

def bhand_node.BHand.shutdownState ( self )

        Actions performed in shutdown state

Definition at line 636 of file bhand_node.py.

def bhand_node.BHand.standbyState ( self )

        Actions performed in standby state

Definition at line 385 of file bhand_node.py.

def bhand_node.BHand.start ( self )

        Runs ROS configuration and the main control loop
        @return: 0 if OK

Definition at line 278 of file bhand_node.py.

def bhand_node.BHand.stateToString	(	self,
		state
	)

        @param state: state to convert
        @type state: bhand_controller.msg.State
        @returns the equivalent string of the state

Definition at line 698 of file bhand_node.py.

def bhand_node.BHand.stop ( self )

        Creates and inits ROS components

Definition at line 269 of file bhand_node.py.

def bhand_node.BHand.strain_to_nm	(	self,
		x
	)

Converts from raw encoder unit reading to Newton-meters.

@param x: value to convert

@returns nm: the torque value in Newton-meters.

Definition at line 813 of file bhand_node.py.

def bhand_node.BHand.switchToState	(	self,
		new_state
	)

        Performs the change of state

Definition at line 667 of file bhand_node.py.

Member Data Documentation

bhand_node.BHand::_hand_service [private]

Definition at line 202 of file bhand_node.py.

bhand_node.BHand::_joints_publisher [private]

Definition at line 202 of file bhand_node.py.

bhand_node.BHand::_joints_subscriber [private]

Definition at line 202 of file bhand_node.py.

bhand_node.BHand::_set_control_mode_service [private]

Definition at line 202 of file bhand_node.py.

bhand_node.BHand::_state_publisher [private]

Definition at line 202 of file bhand_node.py.

bhand_node.BHand::_tact_array_publisher [private]

Definition at line 202 of file bhand_node.py.

bhand_node.BHand::actions_list

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::can_errors

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::can_initialized

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::control_mode

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::desired_freq

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::desired_joints_position

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::desired_joints_velocity

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::failure_recover

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::failure_recover_timer

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::grasp_mode

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::hand

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::hand_initialized

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::joint_names

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::joint_state

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::max_can_errors

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::msg_state

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::msg_tact_array

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::new_command

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::port

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::publish_state_timer

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::real_freq

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::ros_initialized

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::running

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::sent_joints_velocity

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::state

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::t_publish_state

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::t_read_temp

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::tactile_sensors

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::temp_command

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::temp_current_sensor

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::temp_read_timer

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::temp_sensor_number

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::temperatures

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::time_sleep

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::timer_command

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::topic_state_name

Definition at line 69 of file bhand_node.py.

bhand_node.BHand::watchdog_command

Definition at line 69 of file bhand_node.py.

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

bhand_node.py

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation