This is a parent class for the different types of Shadowhand we can have. It makes it possible to swap from a virtual to a real hand while using the same utilities to interact with the hand. One (or more) ROS subscriber and publisher can then share the same instance of a Shadowhand object to update the information contained in this object. More...
#include <sr_articulated_robot.h>
Public Types | |
| typedef std::map< std::string, JointData > | JointsMap |
| typedef std::map< std::string, enum controller_parameters > | ParametersMap |
Public Member Functions | |
| virtual JointsMap | getAllJointsData ()=0 |
| virtual void | getConfig (std::string joint_name)=0 |
| virtual JointControllerData | getContrl (std::string contrlr_name)=0 |
| virtual std::vector < DiagnosticData > | getDiagnostics ()=0 |
| virtual JointData | getJointData (std::string joint_name)=0 |
| virtual short | sendupdate (std::string joint_name, double target)=0 |
| virtual short | setConfig (std::vector< std::string > myConfig)=0 |
| virtual short | setContrl (std::string contrlr_name, JointControllerData ctrlr_data)=0 |
| SRArticulatedRobot () | |
| virtual | ~SRArticulatedRobot () |
Public Attributes | |
| boost::mutex | controllers_map_mutex |
| JointsMap | joints_map |
| A mapping between the joint names and the information regarding those joints. | |
| boost::mutex | joints_map_mutex |
| ParametersMap | parameters_map |
| A mapping between the parameter names and their values. | |
| boost::mutex | parameters_map_mutex |
Protected Attributes | |
| boost::shared_ptr < self_test::TestRunner > | self_test |
| this is the handle for the self tests. | |
Detailed Description
This is a parent class for the different types of Shadowhand we can have. It makes it possible to swap from a virtual to a real hand while using the same utilities to interact with the hand. One (or more) ROS subscriber and publisher can then share the same instance of a Shadowhand object to update the information contained in this object.
Definition at line 255 of file sr_articulated_robot.h.
Member Typedef Documentation
| typedef std::map<std::string, JointData> shadowrobot::SRArticulatedRobot::JointsMap |
- See also:
- joints_map
Definition at line 272 of file sr_articulated_robot.h.
| typedef std::map<std::string, enum controller_parameters> shadowrobot::SRArticulatedRobot::ParametersMap |
- See also:
- parameters_map
Definition at line 277 of file sr_articulated_robot.h.
Constructor & Destructor Documentation
| shadowrobot::SRArticulatedRobot::SRArticulatedRobot | ( | ) | [inline] |
empty constructor.
Definition at line 261 of file sr_articulated_robot.h.
| virtual shadowrobot::SRArticulatedRobot::~SRArticulatedRobot | ( | ) | [inline, virtual] |
empty destructor.
Definition at line 269 of file sr_articulated_robot.h.
Member Function Documentation
| virtual JointsMap shadowrobot::SRArticulatedRobot::getAllJointsData | ( | ) | [pure virtual] |
Get the data for all the joints.
- Returns:
- a mapping between the joints names and the information for each joint.
Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::VirtualArm, shadowrobot::RealArm, and shadowrobot::VirtualShadowhandLibrary.
| virtual void shadowrobot::SRArticulatedRobot::getConfig | ( | std::string | joint_name | ) | [pure virtual] |
Get the config of the palm
- Todo:
- Not implemented yet
- Parameters:
-
joint_name
Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::VirtualArm, shadowrobot::RealArm, and shadowrobot::VirtualShadowhandLibrary.
| virtual JointControllerData shadowrobot::SRArticulatedRobot::getContrl | ( | std::string | contrlr_name | ) | [pure virtual] |
Get the controller parameters for a given controller name.
- Parameters:
-
contrlr_name the name of the controller.
- Returns:
- The parameters of this controller
Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::VirtualArm, shadowrobot::RealArm, and shadowrobot::VirtualShadowhandLibrary.
| virtual std::vector<DiagnosticData> shadowrobot::SRArticulatedRobot::getDiagnostics | ( | ) | [pure virtual] |
Get the diagnostics for the whole articulated robot.
- Returns:
- A vector containing all the diagnostics for the robot (motor information, etc...)
Implemented in shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::RealShadowhand, shadowrobot::VirtualArm, shadowrobot::RealArm, and shadowrobot::VirtualShadowhandLibrary.
| virtual JointData shadowrobot::SRArticulatedRobot::getJointData | ( | std::string | joint_name | ) | [pure virtual] |
Get the joint data for a specific joint.
- See also:
- JointData
- Parameters:
-
joint_name The name of the joint, as specified in joints_map.
- Returns:
- The information regarding this joint.
Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::VirtualArm, shadowrobot::RealArm, and shadowrobot::VirtualShadowhandLibrary.
| virtual short shadowrobot::SRArticulatedRobot::sendupdate | ( | std::string | joint_name, |
| double | target | ||
| ) | [pure virtual] |
Generic method called to pass a new target to an articulated robot.
- Parameters:
-
joint_name The Joint in joints_map you wish to send the target to. target The target in degree
- Returns:
- 0 if success ; -1 if error
Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::RealArm, shadowrobot::VirtualArm, and shadowrobot::VirtualShadowhandLibrary.
| virtual short shadowrobot::SRArticulatedRobot::setConfig | ( | std::vector< std::string > | myConfig | ) | [pure virtual] |
Set the config of the palm
- Todo:
- Not implemented yet
- Parameters:
-
myConfig
- Returns:
Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::VirtualArm, shadowrobot::RealArm, and shadowrobot::VirtualShadowhandLibrary.
| virtual short shadowrobot::SRArticulatedRobot::setContrl | ( | std::string | contrlr_name, |
| JointControllerData | ctrlr_data | ||
| ) | [pure virtual] |
Set the controller parameters for a given controller name.
- Parameters:
-
contrlr_name The name of the controller to setup. ctrlr_data The data to pass to this controller.
- Returns:
- 0 if success.
Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::VirtualArm, shadowrobot::RealArm, and shadowrobot::VirtualShadowhandLibrary.
Member Data Documentation
Definition at line 346 of file sr_articulated_robot.h.
A mapping between the joint names and the information regarding those joints.
Definition at line 339 of file sr_articulated_robot.h.
| boost::mutex shadowrobot::SRArticulatedRobot::joints_map_mutex |
Definition at line 344 of file sr_articulated_robot.h.
A mapping between the parameter names and their values.
Definition at line 342 of file sr_articulated_robot.h.
Definition at line 345 of file sr_articulated_robot.h.
boost::shared_ptr<self_test::TestRunner> shadowrobot::SRArticulatedRobot::self_test [protected] |
this is the handle for the self tests.
Definition at line 350 of file sr_articulated_robot.h.
The documentation for this class was generated from the following file: