This class provides the joint command interface for the fingers. More...
#include <JointCommandFinger.h>
Public Member Functions | |
r2_msgs::JointCapability | getCapability () |
r2_msgs::JointCommand | getCommandedState () |
sensor_msgs::JointState | getCompleteMeasuredState () |
sensor_msgs::JointState | getSimpleMeasuredState () |
JointCommandFinger (const std::string &mechanism, IoFunctions ioFunctions) | |
void | loadCoeffs () |
void | setCommand (r2_msgs::JointCommand msg, r2_msgs::JointControlData control) |
void | setFaultState () |
void | updateMeasuredState (r2_msgs::JointControlData msg) |
~JointCommandFinger () | |
Private Attributes | |
bool | activeStiffnessOn |
FingerController< N, NHall > | controller |
FingerController< N, NHall > ::SliderVectorType | desiredSliders |
FingerController< N, NHall > ::SliderVectorType | desiredSliderVels |
std::vector< double > | effortVals |
FingerController< N, NHall > ::SliderVectorType | encoderOffset |
boost::array< std::string, N+1 > | encoderOffsetElements |
boost::array< std::string, N+1 > | encoderStateElements |
FingerController< N, NHall > ::SliderVectorType | encoderVec |
FingerController< N, NHall > ::HallVectorType | filteredHallVec |
FingerController< N, NHall > ::SliderVectorType | filteredSliderVec |
bool | filterInitialized |
ros::Duration | fingerBoostCurrentDuration |
FingerController< N, NHall > ::SliderVectorType | fingerBoostMotCom |
double | fingerBoostTime |
ros::Time | fingerBoostTimerStart |
boost::array< std::string, NHall > | hallStateElements |
FingerController< N, NHall > ::HallVectorType | hallVec |
FingerController< N, NHall > ::HallVectorType | hallVecRaw |
bool | isLeft |
FingerController< N, NHall > ::JointVectorType | jointVec |
FingerController< N, NHall > ::SliderVectorType | kTendon |
double | kTendonDefault |
boost::array< std::string, N+1 > | motComCommandElements |
std::string | nameActiveStiffnessOn |
std::string | nameCoeffState |
boost::array< std::string, N+1 > | nameFingerBoost |
std::string | nameFingerBoostTime |
std::string | nameIsCalibrated |
boost::array< std::string, N+1 > | nameKTendon |
std::string | nameUseCartesian |
double | positionAlpha |
std::vector< double > | positionVals |
std::vector< double > | prevPositionVals |
FingerController< N, NHall > ::JointVectorType | prevSmoothedPos |
FingerController< N, NHall > ::SliderVectorType | sliderMotComs |
boost::array< std::string, N+1 > | sliderOffsetElements |
boost::array< std::string, N+1 > | sliderTarePosElements |
FingerController< N, NHall > ::SliderVectorType | sliderVec |
FingerController< N, NHall > ::SliderVectorType | sliderVel |
FingerController< N, NHall > ::JointVectorType | smoothedPos |
boost::ptr_array < EmbeddedSmoother, N > | smoother |
std::vector< std::string > ::iterator | strVecIt |
boost::array< std::string, N+1 > | tensionAStateElements |
FingerController< N, NHall > ::SliderVectorType | tensionAVec |
boost::array< std::string, N+1 > | tensionBStateElements |
FingerController< N, NHall > ::SliderVectorType | tensionBVec |
double | tensionMin |
boost::array< std::string, N+1 > | tensionOffsetElements |
FingerController< N, NHall > ::SliderVectorType | tensionVec |
double | timestep |
bool | tubeTared |
bool | useCartesian |
std::vector< double > | velocityVals |
This class provides the joint command interface for the fingers.
Definition at line 27 of file JointCommandFinger.h.
JointCommandFinger< N, NHall >::JointCommandFinger | ( | const std::string & | mechanism, |
IoFunctions | ioFunctions | ||
) |
Definition at line 103 of file JointCommandFinger.h.
JointCommandFinger< N, NHall >::~JointCommandFinger | ( | ) |
Definition at line 298 of file JointCommandFinger.h.
r2_msgs::JointCapability JointCommandFinger< N, NHall >::getCapability | ( | ) | [virtual] |
Implements JointCommandInterface.
Definition at line 1113 of file JointCommandFinger.h.
r2_msgs::JointCommand JointCommandFinger< N, NHall >::getCommandedState | ( | ) | [virtual] |
Implements JointCommandInterface.
Definition at line 909 of file JointCommandFinger.h.
sensor_msgs::JointState JointCommandFinger< N, NHall >::getCompleteMeasuredState | ( | ) | [virtual] |
Implements JointCommandInterface.
Definition at line 863 of file JointCommandFinger.h.
sensor_msgs::JointState JointCommandFinger< N, NHall >::getSimpleMeasuredState | ( | ) | [virtual] |
Implements JointCommandInterface.
Definition at line 844 of file JointCommandFinger.h.
void JointCommandFinger< N, NHall >::loadCoeffs | ( | ) | [virtual] |
Initialize messages
avoiding forward rate kinematics here
Parse parameter file
State & Command Elements
Coeffs
multiloop parameters
Reference Matrix
live coeff
Implements JointCommandInterface.
Definition at line 302 of file JointCommandFinger.h.
void JointCommandFinger< N, NHall >::setCommand | ( | r2_msgs::JointCommand | msg, |
r2_msgs::JointControlData | control | ||
) | [virtual] |
we are not in drive, so set motcoms to 0
Implements JointCommandInterface.
Definition at line 921 of file JointCommandFinger.h.
void JointCommandFinger< N, NHall >::setFaultState | ( | ) |
Definition at line 916 of file JointCommandFinger.h.
void JointCommandFinger< N, NHall >::updateMeasuredState | ( | r2_msgs::JointControlData | msg | ) | [virtual] |
Implements JointCommandInterface.
Definition at line 660 of file JointCommandFinger.h.
bool JointCommandFinger< N, NHall >::activeStiffnessOn [private] |
Definition at line 60 of file JointCommandFinger.h.
FingerController<N, NHall> JointCommandFinger< N, NHall >::controller [private] |
Definition at line 44 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::desiredSliders [private] |
Definition at line 54 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::desiredSliderVels [private] |
Definition at line 54 of file JointCommandFinger.h.
std::vector<double> JointCommandFinger< N, NHall >::effortVals [private] |
Definition at line 70 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::encoderOffset [private] |
Definition at line 54 of file JointCommandFinger.h.
boost::array< std::string, N + 1 > JointCommandFinger< N, NHall >::encoderOffsetElements [private] |
Definition at line 89 of file JointCommandFinger.h.
boost::array< std::string, N + 1 > JointCommandFinger< N, NHall >::encoderStateElements [private] |
Definition at line 46 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::encoderVec [private] |
Definition at line 54 of file JointCommandFinger.h.
FingerController<N, NHall>::HallVectorType JointCommandFinger< N, NHall >::filteredHallVec [private] |
Definition at line 80 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::filteredSliderVec [private] |
Definition at line 79 of file JointCommandFinger.h.
bool JointCommandFinger< N, NHall >::filterInitialized [private] |
Definition at line 84 of file JointCommandFinger.h.
ros::Duration JointCommandFinger< N, NHall >::fingerBoostCurrentDuration [private] |
Definition at line 65 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::fingerBoostMotCom [private] |
Definition at line 55 of file JointCommandFinger.h.
double JointCommandFinger< N, NHall >::fingerBoostTime [private] |
Definition at line 64 of file JointCommandFinger.h.
ros::Time JointCommandFinger< N, NHall >::fingerBoostTimerStart [private] |
Definition at line 66 of file JointCommandFinger.h.
boost::array<std::string, NHall> JointCommandFinger< N, NHall >::hallStateElements [private] |
Definition at line 45 of file JointCommandFinger.h.
FingerController<N, NHall>::HallVectorType JointCommandFinger< N, NHall >::hallVec [private] |
Definition at line 53 of file JointCommandFinger.h.
FingerController<N, NHall>::HallVectorType JointCommandFinger< N, NHall >::hallVecRaw [private] |
Definition at line 53 of file JointCommandFinger.h.
bool JointCommandFinger< N, NHall >::isLeft [private] |
Definition at line 62 of file JointCommandFinger.h.
FingerController<N, NHall>::JointVectorType JointCommandFinger< N, NHall >::jointVec [private] |
Definition at line 52 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::kTendon [private] |
Definition at line 55 of file JointCommandFinger.h.
double JointCommandFinger< N, NHall >::kTendonDefault [private] |
Definition at line 59 of file JointCommandFinger.h.
boost::array< std::string, N + 1 > JointCommandFinger< N, NHall >::motComCommandElements [private] |
Definition at line 49 of file JointCommandFinger.h.
std::string JointCommandFinger< N, NHall >::nameActiveStiffnessOn [private] |
Definition at line 95 of file JointCommandFinger.h.
std::string JointCommandFinger< N, NHall >::nameCoeffState [private] |
Definition at line 88 of file JointCommandFinger.h.
boost::array< std::string, N + 1 > JointCommandFinger< N, NHall >::nameFingerBoost [private] |
Definition at line 99 of file JointCommandFinger.h.
std::string JointCommandFinger< N, NHall >::nameFingerBoostTime [private] |
Definition at line 97 of file JointCommandFinger.h.
std::string JointCommandFinger< N, NHall >::nameIsCalibrated [private] |
Definition at line 87 of file JointCommandFinger.h.
boost::array< std::string, N + 1 > JointCommandFinger< N, NHall >::nameKTendon [private] |
Definition at line 98 of file JointCommandFinger.h.
std::string JointCommandFinger< N, NHall >::nameUseCartesian [private] |
Definition at line 96 of file JointCommandFinger.h.
double JointCommandFinger< N, NHall >::positionAlpha [private] |
Definition at line 83 of file JointCommandFinger.h.
std::vector<double> JointCommandFinger< N, NHall >::positionVals [private] |
Definition at line 68 of file JointCommandFinger.h.
std::vector<double> JointCommandFinger< N, NHall >::prevPositionVals [private] |
Definition at line 81 of file JointCommandFinger.h.
FingerController<N, NHall>::JointVectorType JointCommandFinger< N, NHall >::prevSmoothedPos [private] |
Definition at line 76 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::sliderMotComs [private] |
Definition at line 56 of file JointCommandFinger.h.
boost::array< std::string, N + 1 > JointCommandFinger< N, NHall >::sliderOffsetElements [private] |
Definition at line 90 of file JointCommandFinger.h.
boost::array< std::string, N + 1 > JointCommandFinger< N, NHall >::sliderTarePosElements [private] |
Definition at line 91 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::sliderVec [private] |
Definition at line 54 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::sliderVel [private] |
Definition at line 56 of file JointCommandFinger.h.
FingerController<N, NHall>::JointVectorType JointCommandFinger< N, NHall >::smoothedPos [private] |
Definition at line 75 of file JointCommandFinger.h.
boost::ptr_array<EmbeddedSmoother, N> JointCommandFinger< N, NHall >::smoother [private] |
Definition at line 74 of file JointCommandFinger.h.
std::vector<std::string>::iterator JointCommandFinger< N, NHall >::strVecIt [private] |
Definition at line 73 of file JointCommandFinger.h.
boost::array< std::string, N + 1 > JointCommandFinger< N, NHall >::tensionAStateElements [private] |
Definition at line 47 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::tensionAVec [private] |
Definition at line 55 of file JointCommandFinger.h.
boost::array< std::string, N + 1 > JointCommandFinger< N, NHall >::tensionBStateElements [private] |
Definition at line 48 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::tensionBVec [private] |
Definition at line 55 of file JointCommandFinger.h.
double JointCommandFinger< N, NHall >::tensionMin [private] |
Definition at line 63 of file JointCommandFinger.h.
boost::array< std::string, N + 1 > JointCommandFinger< N, NHall >::tensionOffsetElements [private] |
Definition at line 92 of file JointCommandFinger.h.
FingerController<N, NHall>::SliderVectorType JointCommandFinger< N, NHall >::tensionVec [private] |
Definition at line 55 of file JointCommandFinger.h.
double JointCommandFinger< N, NHall >::timestep [private] |
Definition at line 82 of file JointCommandFinger.h.
bool JointCommandFinger< N, NHall >::tubeTared [private] |
Definition at line 58 of file JointCommandFinger.h.
bool JointCommandFinger< N, NHall >::useCartesian [private] |
Definition at line 61 of file JointCommandFinger.h.
std::vector<double> JointCommandFinger< N, NHall >::velocityVals [private] |
Definition at line 69 of file JointCommandFinger.h.