#include <generic_tactiles.hpp>
Public Member Functions | |
| virtual void | add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d) |
| GenericTactiles (ros::NodeHandle nh, std::string device_id, std::vector< generic_updater::UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state) | |
| virtual std::vector < AllTactileData > * | get_tactile_data () |
| virtual void | publish () |
| bool | reset (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response) |
| virtual void | update (StatusType *status_data) |
| virtual | ~GenericTactiles () |
Public Attributes | |
| boost::shared_ptr < generic_updater::SensorUpdater < CommandType > > | sensor_updater |
| boost::shared_ptr< std::vector < GenericTactileData > > | tactiles_vector |
| the vector containing the data for the tactiles. | |
Static Public Attributes | |
| static const unsigned int | nb_tactiles = 5 |
| Number of tactile sensors (TODO: should probably be defined in the protocol) | |
Protected Member Functions | |
| void | process_received_data_type (int32u data) |
| std::string | sanitise_string (const char *raw_string, const unsigned int str_size) |
Protected Attributes | |
| boost::shared_ptr< std::vector < AllTactileData > > | all_tactile_data |
| std::string | device_id_ |
| std::vector< int32u > | initialization_received_data_vector |
| ros::NodeHandle | nodehandle_ |
| ros::ServiceServer | reset_service_client_ |
Detailed Description
template<class StatusType, class CommandType>
class tactiles::GenericTactiles< StatusType, CommandType >
Definition at line 56 of file generic_tactiles.hpp.
Constructor & Destructor Documentation
| tactiles::GenericTactiles< StatusType, CommandType >::GenericTactiles | ( | ros::NodeHandle | nh, |
| std::string | device_id, | ||
| std::vector< generic_updater::UpdateConfig > | update_configs_vector, | ||
| operation_mode::device_update_state::DeviceUpdateState | update_state | ||
| ) |
Definition at line 47 of file generic_tactiles.cpp.
| virtual tactiles::GenericTactiles< StatusType, CommandType >::~GenericTactiles | ( | ) | [inline, virtual] |
Definition at line 63 of file generic_tactiles.hpp.
Member Function Documentation
| void tactiles::GenericTactiles< StatusType, CommandType >::add_diagnostics | ( | std::vector< diagnostic_msgs::DiagnosticStatus > & | vec, |
| diagnostic_updater::DiagnosticStatusWrapper & | d | ||
| ) | [virtual] |
This function adds the diagnostics for the tactiles to the multi diagnostic status published by the hand.
Reimplemented in tactiles::UBI0< StatusType, CommandType >, tactiles::Biotac< StatusType, CommandType >, and tactiles::ShadowPSTs< StatusType, CommandType >.
Definition at line 187 of file generic_tactiles.cpp.
| std::vector< AllTactileData > * tactiles::GenericTactiles< StatusType, CommandType >::get_tactile_data | ( | ) | [virtual] |
Reimplemented in tactiles::UBI0< StatusType, CommandType >, tactiles::ShadowPSTs< StatusType, CommandType >, and tactiles::Biotac< StatusType, CommandType >.
Definition at line 238 of file generic_tactiles.cpp.
| void tactiles::GenericTactiles< StatusType, CommandType >::process_received_data_type | ( | int32u | data | ) | [protected] |
Definition at line 164 of file generic_tactiles.cpp.
| void tactiles::GenericTactiles< StatusType, CommandType >::publish | ( | ) | [virtual] |
Publish the information to a ROS topic.
Reimplemented in tactiles::UBI0< StatusType, CommandType >, tactiles::Biotac< StatusType, CommandType >, and tactiles::ShadowPSTs< StatusType, CommandType >.
Definition at line 181 of file generic_tactiles.cpp.
| bool tactiles::GenericTactiles< StatusType, CommandType >::reset | ( | std_srvs::Empty::Request & | request, |
| std_srvs::Empty::Response & | response | ||
| ) |
Reset the tactile sensors.
- Parameters:
-
request empty response empty
- Returns:
- true if success
Definition at line 202 of file generic_tactiles.cpp.
| std::string tactiles::GenericTactiles< StatusType, CommandType >::sanitise_string | ( | const char * | raw_string, |
| const unsigned int | str_size | ||
| ) | [protected] |
Sanitise a string coming from the palm. Make sure we're not outputting garbage in the diagnostics topic. The acceptable range for the char is [0x20 .. 0x7E]
- Parameters:
-
raw_string The incoming raw string str_size The max size of the string
- Returns:
- The sanitised string.
Definition at line 211 of file generic_tactiles.cpp.
| void tactiles::GenericTactiles< StatusType, CommandType >::update | ( | StatusType * | status_data | ) | [virtual] |
This function is called each time a new etherCAT message is received in the sr06.cpp driver. It updates the tactile sensors values contained in tactiles_vector.
- Parameters:
-
status_data the received etherCAT message
Reimplemented in tactiles::UBI0< StatusType, CommandType >, tactiles::Biotac< StatusType, CommandType >, and tactiles::ShadowPSTs< StatusType, CommandType >.
Definition at line 73 of file generic_tactiles.cpp.
Member Data Documentation
boost::shared_ptr<std::vector<AllTactileData> > tactiles::GenericTactiles< StatusType, CommandType >::all_tactile_data [protected] |
Definition at line 132 of file generic_tactiles.hpp.
std::string tactiles::GenericTactiles< StatusType, CommandType >::device_id_ [protected] |
Definition at line 113 of file generic_tactiles.hpp.
std::vector<int32u> tactiles::GenericTactiles< StatusType, CommandType >::initialization_received_data_vector [protected] |
Definition at line 118 of file generic_tactiles.hpp.
const unsigned int tactiles::GenericTactiles< StatusType, CommandType >::nb_tactiles = 5 [static] |
Number of tactile sensors (TODO: should probably be defined in the protocol)
Definition at line 101 of file generic_tactiles.hpp.
ros::NodeHandle tactiles::GenericTactiles< StatusType, CommandType >::nodehandle_ [protected] |
Definition at line 112 of file generic_tactiles.hpp.
ros::ServiceServer tactiles::GenericTactiles< StatusType, CommandType >::reset_service_client_ [protected] |
Definition at line 115 of file generic_tactiles.hpp.
| boost::shared_ptr<generic_updater::SensorUpdater<CommandType> > tactiles::GenericTactiles< StatusType, CommandType >::sensor_updater |
Definition at line 103 of file generic_tactiles.hpp.
| boost::shared_ptr<std::vector<GenericTactileData> > tactiles::GenericTactiles< StatusType, CommandType >::tactiles_vector |
the vector containing the data for the tactiles.
Reimplemented in tactiles::UBI0< StatusType, CommandType >, tactiles::Biotac< StatusType, CommandType >, and tactiles::ShadowPSTs< StatusType, CommandType >.
Definition at line 105 of file generic_tactiles.hpp.
The documentation for this class was generated from the following files: