sr_robot_commander.sr_hand_commander.SrHandCommander Class Reference

Inheritance diagram for sr_robot_commander.sr_hand_commander.SrHandCommander:

List of all members.

Public Member Functions
def	__init__
def	get_joints_effort
def	get_tactile_state
def	get_tactile_type
def	set_max_force
Private Attributes
	_tactiles
	_topic_prefix
Static Private Attributes
dictionary	__set_force_srv = {}

---

Detailed Description

Commander class for hand

Definition at line 25 of file sr_hand_commander.py.

---

Constructor & Destructor Documentation

def sr_robot_commander.sr_hand_commander.SrHandCommander.__init__	(		self,
			name = "right_hand",
			prefix = "rh"
	)

Initialize object
@param name - name of the MoveIt group
@param prefix - prefix used for the tactiles and max_force

Definition at line 32 of file sr_hand_commander.py.

---

Member Function Documentation

def sr_robot_commander.sr_hand_commander.SrHandCommander.get_joints_effort

(

self

)

Returns joints effort
@return - dictionary with joints efforts

Definition at line 46 of file sr_hand_commander.py.

def sr_robot_commander.sr_hand_commander.SrHandCommander.get_tactile_state

(

self

)

Returns an object containing tactile data. The structure of the
data is different for every tactile_type.

Definition at line 103 of file sr_hand_commander.py.

def sr_robot_commander.sr_hand_commander.SrHandCommander.get_tactile_type

(

self

)

Returns a string indicating the type of tactile sensors present.
Possible values are: PST, biotac, UBI0.

Definition at line 96 of file sr_hand_commander.py.

def sr_robot_commander.sr_hand_commander.SrHandCommander.set_max_force	(		self,
			joint_name,
			value
	)

Set maximum force for hand
@param value - maximum force value

Definition at line 53 of file sr_hand_commander.py.

---

Member Data Documentation

dictionary sr_robot_commander::sr_hand_commander.SrHandCommander::__set_force_srv = {} [static, private]

Definition at line 30 of file sr_hand_commander.py.

sr_robot_commander::sr_hand_commander.SrHandCommander::_tactiles [private]

Definition at line 36 of file sr_hand_commander.py.

sr_robot_commander::sr_hand_commander.SrHandCommander::_topic_prefix [private]

Definition at line 36 of file sr_hand_commander.py.

---

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

• sr_hand_commander.py