Public Member Functions | Public Attributes | Private Attributes
bhand_node.BHand Class Reference

List of all members.

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.

        Main loop of the component
        Manages actions by state

Definition at line 295 of file bhand_node.py.

        Actions performed in emergency state

Definition at line 646 of file bhand_node.py.

        Sets the recovery flag TRUE. Function called after timer

Definition at line 893 of file bhand_node.py.

        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.

        Function to start the timer to read the temperature

Definition at line 787 of file bhand_node.py.

        Actions performed in init state

Definition at line 368 of file bhand_node.py.

        Opens all the fingers

Definition at line 942 of file bhand_node.py.

        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.

        Actions performed in ready state

Definition at line 395 of file bhand_node.py.

        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.

        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.

        Actions performed in shutdown state 

Definition at line 636 of file bhand_node.py.

        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

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


bhand_controller
Author(s): Román Navarro , Jorge Ariño
autogenerated on Sat Jun 8 2019 20:56:12