JointCommandGripper Class Reference

#include <JointCommandGripper.h>

Inheritance diagram for JointCommandGripper:

List of all members.

Public Member Functions
r2_msgs::JointCapability	getCapability ()
r2_msgs::JointCommand	getCommandedState ()
sensor_msgs::JointState	getCompleteMeasuredState ()
sensor_msgs::JointState	getSimpleMeasuredState ()
	JointCommandGripper (const std::string &mechanism, IoFunctions ioFunctions)
void	loadCoeffs ()
void	setCommand (r2_msgs::JointCommand msg, r2_msgs::JointControlData)
void	setFaultState ()
void	updateMeasuredState (r2_msgs::JointControlData msg)
virtual	~JointCommandGripper ()
Protected Attributes
unsigned int	completeMessageSize
std::string	curLimitCommandElement
std::string	derivativeGainCommandElement
std::string	desiredPositionCommandElement
std::string	desiredPositionVelocityLimitCommandElement
std::vector< double >	effortVals
std::string	feedForwardTorqueCommandElement
std::string	integralGainCommandElement
std::string	jawLeftName
std::string	jawLeftPositionStatusElement
std::string	jawLeftRoboDynJointName
std::string	jawLeftTorqueStatusElement
std::string	jawLeftVelocityStatusElement
std::string	jawRightName
std::string	jawRightPositionStatusElement
std::string	jawRightRoboDynJointName
std::string	jawRightTorqueStatusElement
std::string	jawRightVelocityStatusElement
std::string	jointPositionStatusElement
std::string	jointRoboDynJointName
std::string	jointVelocityStatusElement
std::string	pLKiCommandElement
std::string	pLKiMinCommandElement
std::string	pLWindupLimCommandElement
std::string	positionLoopTorqueLimitCommandElement
std::string	positionLoopWindupLimitCommandElement
std::vector< double >	positionVals
std::string	posKdCommandElement
std::string	posKpCommandElement
std::string	proportionalGainCommandElement
std::string	velLimitCommandElement
std::vector< double >	velocityVals

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Detailed Description

Definition at line 12 of file JointCommandGripper.h.

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Constructor & Destructor Documentation

JointCommandGripper::JointCommandGripper	(	const std::string &	mechanism,
		IoFunctions	ioFunctions
	)

Definition at line 7 of file JointCommandGripper.cpp.

JointCommandGripper::~JointCommandGripper

(

)

[virtual]

Definition at line 74 of file JointCommandGripper.cpp.

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Member Function Documentation

r2_msgs::JointCapability JointCommandGripper::getCapability

(

)

[virtual]

Implements JointCommandInterface.

Definition at line 374 of file JointCommandGripper.cpp.

r2_msgs::JointCommand JointCommandGripper::getCommandedState

(

)

[virtual]

Implements JointCommandInterface.

Definition at line 292 of file JointCommandGripper.cpp.

sensor_msgs::JointState JointCommandGripper::getCompleteMeasuredState

(

)

[virtual]

Implements JointCommandInterface.

Definition at line 277 of file JointCommandGripper.cpp.

sensor_msgs::JointState JointCommandGripper::getSimpleMeasuredState

(

)

[virtual]

Implements JointCommandInterface.

Definition at line 266 of file JointCommandGripper.cpp.

void JointCommandGripper::loadCoeffs

(

)

[virtual]

Initialize messages

Parse parameter file

Status Elements

Command Elements

Capability Elements

Set EE Control limits

Implements JointCommandInterface.

Definition at line 77 of file JointCommandGripper.cpp.

void JointCommandGripper::setCommand	(	r2_msgs::JointCommand	msg,
		r2_msgs::JointControlData
	)		[virtual]

Implements JointCommandInterface.

Definition at line 299 of file JointCommandGripper.cpp.

void JointCommandGripper::setFaultState

(

)

Definition at line 288 of file JointCommandGripper.cpp.

void JointCommandGripper::updateMeasuredState

(

r2_msgs::JointControlData

msg

)

[virtual]

joint

left jaw

right jaw

Implements JointCommandInterface.

Definition at line 238 of file JointCommandGripper.cpp.

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Member Data Documentation

unsigned int JointCommandGripper::completeMessageSize [protected]

Definition at line 68 of file JointCommandGripper.h.

std::string JointCommandGripper::curLimitCommandElement [protected]

Definition at line 57 of file JointCommandGripper.h.

std::string JointCommandGripper::derivativeGainCommandElement [protected]

Definition at line 48 of file JointCommandGripper.h.

std::string JointCommandGripper::desiredPositionCommandElement [protected]

Definition at line 44 of file JointCommandGripper.h.

std::string JointCommandGripper::desiredPositionVelocityLimitCommandElement [protected]

Definition at line 45 of file JointCommandGripper.h.

std::vector<double> JointCommandGripper::effortVals [protected]

Definition at line 66 of file JointCommandGripper.h.

std::string JointCommandGripper::feedForwardTorqueCommandElement [protected]

Definition at line 46 of file JointCommandGripper.h.

std::string JointCommandGripper::integralGainCommandElement [protected]

Definition at line 49 of file JointCommandGripper.h.

std::string JointCommandGripper::jawLeftName [protected]

Definition at line 53 of file JointCommandGripper.h.

std::string JointCommandGripper::jawLeftPositionStatusElement [protected]

Definition at line 34 of file JointCommandGripper.h.

std::string JointCommandGripper::jawLeftRoboDynJointName [protected]

Definition at line 30 of file JointCommandGripper.h.

std::string JointCommandGripper::jawLeftTorqueStatusElement [protected]

Definition at line 41 of file JointCommandGripper.h.

std::string JointCommandGripper::jawLeftVelocityStatusElement [protected]

Definition at line 38 of file JointCommandGripper.h.

std::string JointCommandGripper::jawRightName [protected]

Definition at line 54 of file JointCommandGripper.h.

std::string JointCommandGripper::jawRightPositionStatusElement [protected]

Definition at line 35 of file JointCommandGripper.h.

std::string JointCommandGripper::jawRightRoboDynJointName [protected]

Definition at line 31 of file JointCommandGripper.h.

std::string JointCommandGripper::jawRightTorqueStatusElement [protected]

Definition at line 42 of file JointCommandGripper.h.

std::string JointCommandGripper::jawRightVelocityStatusElement [protected]

Definition at line 39 of file JointCommandGripper.h.

std::string JointCommandGripper::jointPositionStatusElement [protected]

Definition at line 33 of file JointCommandGripper.h.

std::string JointCommandGripper::jointRoboDynJointName [protected]

Definition at line 29 of file JointCommandGripper.h.

std::string JointCommandGripper::jointVelocityStatusElement [protected]

Definition at line 37 of file JointCommandGripper.h.

std::string JointCommandGripper::pLKiCommandElement [protected]

Definition at line 59 of file JointCommandGripper.h.

std::string JointCommandGripper::pLKiMinCommandElement [protected]

Definition at line 62 of file JointCommandGripper.h.

std::string JointCommandGripper::pLWindupLimCommandElement [protected]

Definition at line 61 of file JointCommandGripper.h.

std::string JointCommandGripper::positionLoopTorqueLimitCommandElement [protected]

Definition at line 50 of file JointCommandGripper.h.

std::string JointCommandGripper::positionLoopWindupLimitCommandElement [protected]

Definition at line 51 of file JointCommandGripper.h.

std::vector<double> JointCommandGripper::positionVals [protected]

Definition at line 64 of file JointCommandGripper.h.

std::string JointCommandGripper::posKdCommandElement [protected]

Definition at line 60 of file JointCommandGripper.h.

std::string JointCommandGripper::posKpCommandElement [protected]

Definition at line 58 of file JointCommandGripper.h.

std::string JointCommandGripper::proportionalGainCommandElement [protected]

Definition at line 47 of file JointCommandGripper.h.

std::string JointCommandGripper::velLimitCommandElement [protected]

Definition at line 56 of file JointCommandGripper.h.

std::vector<double> JointCommandGripper::velocityVals [protected]

Definition at line 65 of file JointCommandGripper.h.

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

• JointCommandGripper.h
• JointCommandGripper.cpp