#include <PowerCubeCtrl.h>
Public Types | |
| enum | PC_CTRL_STATUS { PC_CTRL_OK = 0, PC_CTRL_NOT_HOMED = -1, PC_CTRL_ERR = -2, PC_CTRL_POW_VOLT_ERR = -3 } |
Public Member Functions | |
| bool | Close () |
| Close. | |
| bool | doHoming () |
| Waits until all Modules are homed. | |
| std::vector< double > | getAccelerations () |
| Gets the current accelerations. | |
| std::string | getErrorMessage () const |
| Get error message. | |
| double | getHorizon () |
| Gets the horizon (sec). | |
| bool | getJointAngles (std::vector< double > &result) |
| get the current joint angles | |
| bool | getJointVelocities (std::vector< double > &result) |
| get the current joint velocities (Rad/s) | |
| PC_CTRL_STATUS | getPC_Status () const |
| Get PC_Status message. | |
| std::vector< double > | getPositions () |
| Gets the current positions. | |
| bool | getStatus (PC_CTRL_STATUS &status, std::vector< std::string > &errorMessages) |
| Gets the status of the modules. | |
| std::vector< double > | getVelocities () |
| Gets the current velcities. | |
| std::vector< unsigned long > | getVersion () |
| Gets the firmware version of the modules. | |
| bool | Init (PowerCubeCtrlParams *params) |
| Initializing. | |
| bool | isInitialized () const |
| Checking if is initialized. | |
| bool | MoveJointSpaceSync (const std::vector< double > &angles) |
| Send position goals to powercubes, the final angles will be reached simultaneously. | |
| bool | MoveVel (const std::vector< double > &velocities) |
| Moves all cubes by the given velocities. | |
| PowerCubeCtrl (PowerCubeCtrlParams *params) | |
| Constructor. | |
| bool | Recover () |
| Recovery after emergency stop or power supply failure. | |
| bool | setASyncMotion () |
| Configure powercubes to start all movements asynchronously. | |
| bool | setHorizon (double horizon) |
| Sets the horizon (sec). | |
| bool | setMaxAcceleration (double acceleration) |
| Sets the maximum angular velocity (rad/s) for the Joints, use with care! | |
| bool | setMaxAcceleration (const std::vector< double > &accelerations) |
| Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care! | |
| bool | setMaxVelocity (double velocity) |
| Sets the maximum angular velocity (rad/s) for the Joints, use with care! | |
| bool | setMaxVelocity (const std::vector< double > &velocities) |
| Sets the maximum angular velocity (rad/s) for the Joints, use with care! | |
| bool | setSyncMotion () |
| Configure powercubes to start all movements synchronously. | |
| bool | statusMoving () |
| Returns true if any of the Joints are still moving. | |
| bool | Stop () |
| Stops the Manipulator immediately. | |
| bool | updateStates () |
| Returns the state of all modules. | |
| void | updateVelocities (std::vector< double > pos_temp, double delta_t) |
| ~PowerCubeCtrl () | |
| Destructor. | |
Protected Member Functions | |
| bool | getPositionAndStatus (int module_id, unsigned long *state, unsigned char *dio, float *position) |
Protected Attributes | |
| std::vector< double > | m_accelerations |
| std::deque< std::vector< double > > | m_cached_pos |
| bool | m_CANDeviceOpened |
| int | m_DeviceHandle |
| std::vector< unsigned char > | m_dios |
| std::string | m_ErrorMessage |
| double | m_horizon |
| bool | m_Initialized |
| ros::Time | m_last_time_pub |
| std::vector< std::string > | m_ModuleTypes |
| pthread_mutex_t | m_mutex |
| PowerCubeCtrlParams * | m_params |
| PC_CTRL_STATUS | m_pc_status |
| std::vector< double > | m_positions |
| std::vector< unsigned long > | m_status |
| std::vector< double > | m_velocities |
| std::vector< unsigned long > | m_version |
Definition at line 37 of file PowerCubeCtrl.h.
Definition at line 46 of file PowerCubeCtrl.h.
| PowerCubeCtrl::PowerCubeCtrl | ( | PowerCubeCtrlParams * | params | ) |
Constructor.
Definition at line 36 of file PowerCubeCtrl.cpp.
Destructor.
Definition at line 55 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::Close | ( | ) |
| bool PowerCubeCtrl::doHoming | ( | ) |
Waits until all Modules are homed.
Does homing for all Modules.
Homes only Schunk PW-Modules or PRL-Modules don't need to be homed.
PRL-Modules are ignored. PW-Modules are checked if they are homed. If not,homeing is executed.
getting offsets
wait until all modules are homed
start homing
timeout watchdog for homing
check result
Definition at line 1335 of file PowerCubeCtrl.cpp.
| std::vector< double > PowerCubeCtrl::getAccelerations | ( | ) |
Gets the current accelerations.
Gets the current positions.
ToDo: calculate new accelerations before returning
Definition at line 1268 of file PowerCubeCtrl.cpp.
| std::string PowerCubeCtrl::getErrorMessage | ( | ) | const [inline] |
Get error message.
Definition at line 74 of file PowerCubeCtrl.h.
| double PowerCubeCtrl::getHorizon | ( | ) |
Gets the horizon (sec).
The horizon is the maximum step size which will be commanded to the powercube chain. In case of a failure this is the time the powercube chain will continue to move until it is stopped.
Definition at line 997 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::getJointAngles | ( | std::vector< double > & | result | ) |
get the current joint angles
Gets the current joint angles from device.
Definition at line 1277 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::getJointVelocities | ( | std::vector< double > & | result | ) |
get the current joint velocities (Rad/s)
Gets the current joint angular velocities from device.
Definition at line 1305 of file PowerCubeCtrl.cpp.
| PC_CTRL_STATUS PowerCubeCtrl::getPC_Status | ( | ) | const [inline] |
Get PC_Status message.
Definition at line 82 of file PowerCubeCtrl.h.
| bool PowerCubeCtrl::getPositionAndStatus | ( | int | module_id, |
| unsigned long * | state, | ||
| unsigned char * | dio, | ||
| float * | position | ||
| ) | [protected] |
Definition at line 1500 of file PowerCubeCtrl.cpp.
| std::vector< double > PowerCubeCtrl::getPositions | ( | ) |
Gets the current positions.
Definition at line 1251 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::getStatus | ( | PC_CTRL_STATUS & | status, |
| std::vector< std::string > & | errorMessages | ||
| ) |
Gets the status of the modules.
Definition at line 1138 of file PowerCubeCtrl.cpp.
| std::vector< double > PowerCubeCtrl::getVelocities | ( | ) |
Gets the current velcities.
Gets the current velocities.
ToDo: calculate new velocities before returning
Definition at line 1259 of file PowerCubeCtrl.cpp.
| std::vector< unsigned long > PowerCubeCtrl::getVersion | ( | ) |
Gets the firmware version of the modules.
Definition at line 1229 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::Init | ( | PowerCubeCtrlParams * | params | ) |
Initializing.
ToDo: Check brief.
Initializing
Setting paramters initialized by PowerCubeCtrlParams.h
Output of current settings in the terminal
open device
reset all modules of the chain
check number of modules connected to the bus
Check if the modules are connected
retrieve serial number
retrieve version number
retrieve defined gear ratio
retrieve axis type (linear or rotational)
find out module_type
otherwise success
check if modules are in normal state
Definition at line 75 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::isInitialized | ( | ) | const [inline] |
Checking if is initialized.
Definition at line 66 of file PowerCubeCtrl.h.
| bool PowerCubeCtrl::MoveJointSpaceSync | ( | const std::vector< double > & | target_pos | ) |
Send position goals to powercubes, the final angles will be reached simultaneously.
Move joints with calculated velocities and reach synchronously final position.
| velocities | Vector |
Definition at line 366 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::MoveVel | ( | const std::vector< double > & | velocities | ) |
Moves all cubes by the given velocities.
getting paramerters
getting limits
getting offsets
check dimensions
check velocity limit
check position limits
Types: PRL, PW, other
error handling
Definition at line 496 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::Recover | ( | ) |
Recovery after emergency stop or power supply failure.
Recovers the manipulator after an emergency stop.
modules successfully recovered
Definition at line 777 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::setASyncMotion | ( | ) |
Configure powercubes to start all movements asynchronously.
Tells the Modules to start immediately
get config
set config to asynchronous
Definition at line 1046 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::setHorizon | ( | double | horizon | ) |
Sets the horizon (sec).
The horizon is the maximum step size which will be commanded to the powercube chain. In case of a failure this is the time the powercube chain will continue to move until it is stopped.
Definition at line 984 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::setMaxAcceleration | ( | double | maxAcceleration | ) |
Sets the maximum angular velocity (rad/s) for the Joints, use with care!
Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care!
A Value of 0.5 is already pretty fast, you probably don't want anything more than one...
Definition at line 923 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::setMaxAcceleration | ( | const std::vector< double > & | accelerations | ) |
Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care!
Definition at line 953 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::setMaxVelocity | ( | double | maxVelocity | ) |
Sets the maximum angular velocity (rad/s) for the Joints, use with care!
A Value of 0.5 is already pretty fast, you probably don't want anything more than one...
Definition at line 864 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::setMaxVelocity | ( | const std::vector< double > & | velocities | ) |
Sets the maximum angular velocity (rad/s) for the Joints, use with care!
Definition at line 892 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::setSyncMotion | ( | ) |
Configure powercubes to start all movements synchronously.
Tells the Modules not to start moving until PCube_startMotionAll is called.
get config
set config to synchronous
Definition at line 1007 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::statusMoving | ( | ) |
Returns true if any of the Joints are still moving.
Returns true if some cubes are still moving.
Should also return true if Joints are accelerating or decelerating
Definition at line 1236 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::Stop | ( | ) |
Stops the Manipulator immediately.
Stops the manipulator immediately.
getting paramerters
stop should be executes without checking any conditions
after halt the modules don't accept move commands any more, they first have to be reseted
reset all modules of the chain
Definition at line 732 of file PowerCubeCtrl.cpp.
| bool PowerCubeCtrl::updateStates | ( | ) |
Returns the state of all modules.
Returns the current states.
Definition at line 1075 of file PowerCubeCtrl.cpp.
| void PowerCubeCtrl::updateVelocities | ( | std::vector< double > | pos_temp, |
| double | delta_t | ||
| ) |
Definition at line 698 of file PowerCubeCtrl.cpp.
std::vector<double> PowerCubeCtrl::m_accelerations [protected] |
Definition at line 243 of file PowerCubeCtrl.h.
std::deque< std::vector<double> > PowerCubeCtrl::m_cached_pos [protected] |
Definition at line 241 of file PowerCubeCtrl.h.
bool PowerCubeCtrl::m_CANDeviceOpened [protected] |
Definition at line 231 of file PowerCubeCtrl.h.
int PowerCubeCtrl::m_DeviceHandle [protected] |
Definition at line 229 of file PowerCubeCtrl.h.
std::vector<unsigned char> PowerCubeCtrl::m_dios [protected] |
Definition at line 239 of file PowerCubeCtrl.h.
std::string PowerCubeCtrl::m_ErrorMessage [protected] |
Definition at line 249 of file PowerCubeCtrl.h.
double PowerCubeCtrl::m_horizon [protected] |
Definition at line 245 of file PowerCubeCtrl.h.
bool PowerCubeCtrl::m_Initialized [protected] |
Definition at line 230 of file PowerCubeCtrl.h.
ros::Time PowerCubeCtrl::m_last_time_pub [protected] |
Definition at line 247 of file PowerCubeCtrl.h.
std::vector<std::string> PowerCubeCtrl::m_ModuleTypes [protected] |
Definition at line 237 of file PowerCubeCtrl.h.
pthread_mutex_t PowerCubeCtrl::m_mutex [protected] |
Definition at line 227 of file PowerCubeCtrl.h.
PowerCubeCtrlParams* PowerCubeCtrl::m_params [protected] |
Definition at line 233 of file PowerCubeCtrl.h.
PC_CTRL_STATUS PowerCubeCtrl::m_pc_status [protected] |
Definition at line 234 of file PowerCubeCtrl.h.
std::vector<double> PowerCubeCtrl::m_positions [protected] |
Definition at line 240 of file PowerCubeCtrl.h.
std::vector<unsigned long> PowerCubeCtrl::m_status [protected] |
Definition at line 236 of file PowerCubeCtrl.h.
std::vector<double> PowerCubeCtrl::m_velocities [protected] |
Definition at line 242 of file PowerCubeCtrl.h.
std::vector<unsigned long> PowerCubeCtrl::m_version [protected] |
Definition at line 238 of file PowerCubeCtrl.h.