#include <JointControlCommandFinger.h>
Public Member Functions | |
void | actuator (void) |
void | bootLoader (void) |
Transition command to JointControlMode::BOOTLOADER for the joint. | |
void | disableCalibrationMode (void) |
Transition command to JointControlCalibrationMode::DISABLE for the joint. | |
void | disableClearFaultMode (void) |
Transition command to JointControlClearFaultMode::DISABLE for the joint. | |
void | drive (void) |
Transition command to JointControlMode::DRIVE for the joint. | |
void | enableCalibrationMode (void) |
Transition command to JointControlCalibrationMode::ENABLE for the joint. | |
void | enableClearFaultMode (void) |
Transition command to JointControlClearFaultMode::ENABLE for the joint. | |
void | getStates (r2_msgs::JointControlData &commandStates) |
Retrieve state information. | |
JointControlCommandFinger (const std::string &, IoFunctions) | |
Constructor for JointControlCommandFsmFinger. | |
void | motCom (void) |
Transition command to JointControlMode::MOTCOM for the joint. | |
void | multiLoopSmooth (void) |
Transition command to JointControlMode::MULTILOOPSMOOTH for the joint. | |
void | multiLoopStep (void) |
Transition command to JointControlMode::MULTILOOPSTEP for the joint. | |
void | neutral (void) |
Transition command to JointControlMode::NEUTRAL for the joint. | |
void | off (void) |
Transition command to JointControlMode::OFF for the joint. | |
void | park (void) |
Transition command to JointControlMode::PARK for the joint. | |
void | resetCalibrationMode (void) |
Transition command to JointControlCalibrationMode::UNCALIBRATED for the joint. | |
void | stallMode (void) |
Transition command to JointControlCommandMode::STALLMODE for the joint. | |
virtual | ~JointControlCommandFinger () |
Protected Member Functions | |
void | setParameters () |
Protected Attributes | |
const std::string | logCategory |
Private Attributes | |
std::string | CalibrationModeLiveCoeffName |
std::string | ClearFaultStateLiveCoeffName |
std::string | CommandModeLiveCoeffName |
std::string | ControlModeLiveCoeffName |
Definition at line 13 of file JointControlCommandFinger.h.
JointControlCommandFinger::JointControlCommandFinger | ( | const std::string & | mechanism, |
IoFunctions | ioFunctions | ||
) |
Constructor for JointControlCommandFsmFinger.
Definition at line 11 of file JointControlCommandFinger.cpp.
JointControlCommandFinger::~JointControlCommandFinger | ( | ) | [virtual] |
Definition at line 22 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::actuator | ( | void | ) | [virtual] |
Implements JointControlCommandInterface.
Definition at line 187 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::bootLoader | ( | void | ) | [virtual] |
Transition command to JointControlMode::BOOTLOADER for the joint.
if we return to bootloader, reset calibration mode
Implements JointControlCommandInterface.
Definition at line 89 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::disableCalibrationMode | ( | void | ) | [virtual] |
Transition command to JointControlCalibrationMode::DISABLE for the joint.
Implements JointControlCommandInterface.
Definition at line 200 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::disableClearFaultMode | ( | void | ) | [virtual] |
Transition command to JointControlClearFaultMode::DISABLE for the joint.
Implements JointControlCommandInterface.
Definition at line 234 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::drive | ( | void | ) | [virtual] |
Transition command to JointControlMode::DRIVE for the joint.
Implements JointControlCommandInterface.
Definition at line 135 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::enableCalibrationMode | ( | void | ) | [virtual] |
Transition command to JointControlCalibrationMode::ENABLE for the joint.
Implements JointControlCommandInterface.
Definition at line 210 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::enableClearFaultMode | ( | void | ) | [virtual] |
Transition command to JointControlClearFaultMode::ENABLE for the joint.
Implements JointControlCommandInterface.
Definition at line 245 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::getStates | ( | r2_msgs::JointControlData & | commandStates | ) | [virtual] |
Retrieve state information.
Implements JointControlCommandInterface.
Definition at line 78 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::motCom | ( | void | ) | [virtual] |
Transition command to JointControlMode::MOTCOM for the joint.
Implements JointControlCommandInterface.
Definition at line 148 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::multiLoopSmooth | ( | void | ) | [virtual] |
Transition command to JointControlMode::MULTILOOPSMOOTH for the joint.
Implements JointControlCommandInterface.
Definition at line 180 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::multiLoopStep | ( | void | ) | [virtual] |
Transition command to JointControlMode::MULTILOOPSTEP for the joint.
Implements JointControlCommandInterface.
Definition at line 169 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::neutral | ( | void | ) | [virtual] |
Transition command to JointControlMode::NEUTRAL for the joint.
Implements JointControlCommandInterface.
Definition at line 124 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::off | ( | void | ) | [virtual] |
Transition command to JointControlMode::OFF for the joint.
Implements JointControlCommandInterface.
Definition at line 102 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::park | ( | void | ) | [virtual] |
Transition command to JointControlMode::PARK for the joint.
Implements JointControlCommandInterface.
Definition at line 113 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::resetCalibrationMode | ( | void | ) | [virtual] |
Transition command to JointControlCalibrationMode::UNCALIBRATED for the joint.
Implements JointControlCommandInterface.
Definition at line 221 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::setParameters | ( | ) | [protected, virtual] |
Parse parameter file
Implements JointControlCommandInterface.
Definition at line 27 of file JointControlCommandFinger.cpp.
void JointControlCommandFinger::stallMode | ( | void | ) | [virtual] |
Transition command to JointControlCommandMode::STALLMODE for the joint.
Implements JointControlCommandInterface.
Definition at line 159 of file JointControlCommandFinger.cpp.
std::string JointControlCommandFinger::CalibrationModeLiveCoeffName [private] |
Definition at line 52 of file JointControlCommandFinger.h.
std::string JointControlCommandFinger::ClearFaultStateLiveCoeffName [private] |
Definition at line 53 of file JointControlCommandFinger.h.
std::string JointControlCommandFinger::CommandModeLiveCoeffName [private] |
Definition at line 51 of file JointControlCommandFinger.h.
std::string JointControlCommandFinger::ControlModeLiveCoeffName [private] |
Definition at line 50 of file JointControlCommandFinger.h.
const std::string JointControlCommandFinger::logCategory [protected] |
Definition at line 46 of file JointControlCommandFinger.h.