Wrapper class around the KNI (Katana Native Library). More...

#include <Katana.h>

Inheritance diagram for katana::Katana:

Public Member Functions
virtual bool	allJointsReady ()

virtual bool	allMotorsReady ()

virtual bool	executeTrajectory (boost::shared_ptr< SpecifiedTrajectory > traj, boost::function< bool()> isPreemptRequested)

virtual void	freezeRobot ()

	Katana ()

virtual bool	moveJoint (int jointIndex, double turningAngle)

void	refreshEncoders ()

virtual void	refreshMotorStatus ()

virtual void	setLimits (void)

virtual bool	someMotorCrashed ()

virtual void	testSpeed ()

virtual	~Katana ()

Public Member Functions inherited from katana::AbstractKatana
	AbstractKatana ()

virtual std::vector< std::string >	getGripperJointNames ()

virtual std::vector< int >	getGripperJointTypes ()

virtual int	getJointIndex (std::string joint_name)

virtual std::vector< std::string >	getJointNames ()

virtual std::vector< int >	getJointTypes ()

virtual std::vector< double >	getMotorAngles ()

virtual double	getMotorLimitMax (std::string joint_name)

virtual double	getMotorLimitMin (std::string joint_name)

virtual std::vector< moveit_msgs::JointLimits >	getMotorLimits ()

virtual std::vector< double >	getMotorVelocities ()

virtual	~AbstractKatana ()

Protected Member Functions
short	round (const double x)

Protected Attributes
KNIConverter *	converter

boost::shared_ptr< CLMBase >	kni

boost::recursive_mutex	kni_mutex

std::vector< TMotStsFlg >	motor_status_

Protected Attributes inherited from katana::AbstractKatana
std::vector< std::string >	gripper_joint_names_

std::vector< int >	gripper_joint_types_

std::vector< std::string >	joint_names_

std::vector< int >	joint_types_

std::vector< double >	motor_angles_

std::vector< moveit_msgs::JointLimits >	motor_limits_

std::vector< double >	motor_velocities_

Private Member Functions
void	calibrate ()

bool	switchMotorsOff (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)

bool	switchMotorsOn (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)

bool	testSpeedSrv (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)

Private Attributes
CCdlBase *	device

ros::Time	last_encoder_update_

CCplSerialCRC *	protocol

ros::ServiceServer	switch_motors_off_srv_

ros::ServiceServer	switch_motors_on_srv_

ros::ServiceServer	test_speed_srv_

Detailed Description

Wrapper class around the KNI (Katana Native Library).

All access to the Katana hardware should happen through this class. There must always be only one instance of this class. This class should be thread-safe.

Definition at line 48 of file Katana.h.

Constructor & Destructor Documentation

katana::Katana::Katana ( )

Definition at line 31 of file Katana.cpp.

katana::Katana::~Katana ( )

virtual

Definition at line 133 of file Katana.cpp.

Member Function Documentation

bool katana::Katana::allJointsReady ( )

virtual

Implements katana::AbstractKatana.

Reimplemented in katana::Katana300.

Definition at line 505 of file Katana.cpp.

bool katana::Katana::allMotorsReady ( )

virtual

Implements katana::AbstractKatana.

Reimplemented in katana::Katana300.

Definition at line 516 of file Katana.cpp.

void katana::Katana::calibrate ( void )

private

Definition at line 540 of file Katana.cpp.

bool katana::Katana::executeTrajectory	(	boost::shared_ptr< SpecifiedTrajectory >	traj,
		boost::function< bool()>	isPreemptRequested
	)

virtual

Sends the spline parameters to the Katana.

Parameters

traj

Implements katana::AbstractKatana.

Reimplemented in katana::Katana300.

Definition at line 286 of file Katana.cpp.

void katana::Katana::freezeRobot ( )

virtual

Reimplemented from katana::AbstractKatana.

Reimplemented in katana::Katana300.

Definition at line 454 of file Katana.cpp.

bool katana::Katana::moveJoint	(	int	jointIndex,
		double	turningAngle
	)

virtual

Move the joint to the desired angle. Do not wait for result, but return immediately.

Parameters

jointIndex	the joint to move
turningAngle	the target angle

Returns: true iff command was successfully sent to Katana

Implements katana::AbstractKatana.

Reimplemented in katana::Katana300.

Definition at line 461 of file Katana.cpp.

void katana::Katana::refreshEncoders ( )

virtual

Implements katana::AbstractKatana.

Definition at line 155 of file Katana.cpp.

void katana::Katana::refreshMotorStatus ( )

virtual

Reimplemented from katana::AbstractKatana.

Reimplemented in katana::Katana300.

Definition at line 228 of file Katana.cpp.

short katana::Katana::round ( const double x )

inlineprotected

Round to nearest integer.

Definition at line 532 of file Katana.cpp.

void katana::Katana::setLimits ( void )

virtual

Reimplemented in katana::Katana300.

Definition at line 145 of file Katana.cpp.

bool katana::Katana::someMotorCrashed ( )

virtual

Implements katana::AbstractKatana.

Definition at line 494 of file Katana.cpp.

bool katana::Katana::switchMotorsOff	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

private

This service is dangerous to call! It will switch all motors off. If the arm is not in a stable position, it will crash down, potentially damaging itself or the environment!

Definition at line 584 of file Katana.cpp.

bool katana::Katana::switchMotorsOn	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

private

Definition at line 592 of file Katana.cpp.

void katana::Katana::testSpeed ( )

virtual

Reimplemented in katana::Katana300.

Definition at line 606 of file Katana.cpp.

bool katana::Katana::testSpeedSrv	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)

private

Definition at line 600 of file Katana.cpp.

Member Data Documentation

KNIConverter* katana::Katana::converter

protected

Definition at line 75 of file Katana.h.

CCdlBase* katana::Katana::device

private

Definition at line 85 of file Katana.h.

boost::shared_ptr<CLMBase> katana::Katana::kni

protected

Definition at line 71 of file Katana.h.

boost::recursive_mutex katana::Katana::kni_mutex

protected

Definition at line 72 of file Katana.h.

ros::Time katana::Katana::last_encoder_update_

private

Definition at line 87 of file Katana.h.

std::vector<TMotStsFlg> katana::Katana::motor_status_

protected

Definition at line 73 of file Katana.h.

CCplSerialCRC* katana::Katana::protocol

private

Definition at line 84 of file Katana.h.

ros::ServiceServer katana::Katana::switch_motors_off_srv_

private

Definition at line 80 of file Katana.h.

ros::ServiceServer katana::Katana::switch_motors_on_srv_

private

Definition at line 81 of file Katana.h.

ros::ServiceServer katana::Katana::test_speed_srv_

private

Definition at line 82 of file Katana.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation