shadow_robot_standalone::ShadowHand Class Reference

#include <shadow_hand.hpp>

List of all members.

Classes
class	SrRosWrapper
Public Member Functions
bool	get_control_type (ControlType &control_type)
std::vector< std::string >	get_controlled_joints () const
std::map< std::string, JointState > &	get_joint_states () const
std::vector< std::string >	get_joints_with_state () const
std::vector< Tactile > &	get_tactiles () const
void	send_all_positions (const std::vector< double > &targets)
void	send_all_torques (const std::vector< double > &targets)
void	send_position (const std::string &joint_name, double target)
void	send_torque (const std::string &joint_name, double target)
bool	set_control_type (ControlType control_type)
	ShadowHand ()
	~ShadowHand ()
Private Member Functions
ShadowHand &	operator= (const ShadowHand &other)
	ShadowHand (const ShadowHand &other)
Private Attributes
SrRosWrapper *	wrapper_

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Detailed Description

Definition at line 40 of file shadow_hand.hpp.

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Constructor & Destructor Documentation

shadow_robot_standalone::ShadowHand::ShadowHand

(

)

Definition at line 9 of file shadow_hand.cpp.

shadow_robot_standalone::ShadowHand::~ShadowHand

(

)

Definition at line 12 of file shadow_hand.cpp.

shadow_robot_standalone::ShadowHand::ShadowHand

(

const ShadowHand &

other

)

[inline, private]

Definition at line 138 of file shadow_hand.hpp.

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Member Function Documentation

bool shadow_robot_standalone::ShadowHand::get_control_type

(

ControlType &

control_type

)

Get the control type currently used on the hand.

Parameters:

control_type

Either position control over PWM, or effort control over Torque.

Returns:

true if success.

Definition at line 17 of file shadow_hand.cpp.

vector< string > shadow_robot_standalone::ShadowHand::get_controlled_joints

(

)

const

Get a list of joint names in the hand that can be controlled

Returns:

vector containing joint names

Definition at line 71 of file shadow_hand.cpp.

map< string, JointState > & shadow_robot_standalone::ShadowHand::get_joint_states

(

)

const

Retrieves the latest information about the joints. will be empty if nothing has been published

Returns:

map from joint names to struct containing joint's position, velocity and effort.

Definition at line 47 of file shadow_hand.cpp.

vector< string > shadow_robot_standalone::ShadowHand::get_joints_with_state

(

)

const

Get a list of joint names in the hand for which state is reported

Returns:

vector containing joint names

Definition at line 59 of file shadow_hand.cpp.

vector< Tactile > & shadow_robot_standalone::ShadowHand::get_tactiles

(

)

const

Retrieves the tactile data from the biotacs.

Returns:

A vector of tactiles in the following order: FF, MF, RF, LF, TH

Definition at line 53 of file shadow_hand.cpp.

ShadowHand& shadow_robot_standalone::ShadowHand::operator=

(

const ShadowHand &

other

)

[inline, private]

Definition at line 140 of file shadow_hand.hpp.

void shadow_robot_standalone::ShadowHand::send_all_positions

(

const std::vector< double > &

targets

)

Send position targets, in radians, to position controllers of all joints. The order in targets is the same as in response from get_controlled_joints()

Parameters:

positions

in radians for all joints

Definition at line 32 of file shadow_hand.cpp.

void shadow_robot_standalone::ShadowHand::send_all_torques

(

const std::vector< double > &

targets

)

Send torque targets, to all joints. The order in targets is the same as in response from get_controlled_joints()

Parameters:

torque

targets.

Definition at line 42 of file shadow_hand.cpp.

void shadow_robot_standalone::ShadowHand::send_position	(	const std::string &	joint_name,
		double	target
	)

Send a position target, in radians, to the given joint's position controller.

Parameters:

joint_name	Name of the joint to control
a	position in radians

Definition at line 27 of file shadow_hand.cpp.

void shadow_robot_standalone::ShadowHand::send_torque	(	const std::string &	joint_name,
		double	target
	)

Send a torque target, to the given joint.

Parameters:

joint_name	Name of the joint to control
a	torque target.

Definition at line 37 of file shadow_hand.cpp.

bool shadow_robot_standalone::ShadowHand::set_control_type

(

ControlType

control_type

)

Set the control type to be used on the hand.

Parameters:

control_type

Either position control over PWM, or effort control over Torque.

Returns:

true if success.

Definition at line 22 of file shadow_hand.cpp.

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Member Data Documentation

SrRosWrapper* shadow_robot_standalone::ShadowHand::wrapper_ [private]

Definition at line 136 of file shadow_hand.hpp.

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

• shadow_hand.hpp
• shadow_hand.cpp