This compatibility interface is a wrapper around the new etherCAT Hand ROS driver. It is used to present the same interface as the CAN hand. More...

#include <etherCAT_compatibility_hand.hpp>

Inheritance diagram for shadowrobot::EtherCATCompatibilityHand:

[legend]

Public Member Functions
	EtherCATCompatibilityHand ()

virtual JointsMap	getAllJointsData ()

virtual void	getConfig (std::string joint_name)

virtual JointControllerData	getContrl (std::string ctrlr_name)

virtual std::vector< DiagnosticData >	getDiagnostics ()

virtual JointData	getJointData (std::string joint_name)

virtual int16_t	sendupdate (std::string joint_name, double target)

virtual int16_t	setConfig (std::vector< std::string > myConfig)

virtual int16_t	setContrl (std::string contrlr_name, JointControllerData ctrlr_data)

virtual	~EtherCATCompatibilityHand ()

Public Member Functions inherited from shadowrobot::SRArticulatedRobot
	SRArticulatedRobot ()

virtual	~SRArticulatedRobot ()

Protected Member Functions
std::string	findControllerTopicName (std::string joint_name)

void	initializeMap ()

void	joint_states_callback (const sensor_msgs::JointStateConstPtr &msg)

Protected Attributes
std::vector< ros::Publisher >	etherCAT_publishers

ros::Subscriber	joint_state_subscriber

ros::NodeHandle	n_tilde

ros::NodeHandle	node

Protected Attributes inherited from shadowrobot::SRArticulatedRobot
boost::shared_ptr< self_test::TestRunner >	self_test
	this is the handle for the self tests. More...

Additional Inherited Members
Public Types inherited from shadowrobot::SRArticulatedRobot
typedef std::map< std::string, JointData >	JointsMap

typedef std::map< std::string, enum controller_parameters >	ParametersMap

Public Attributes inherited from shadowrobot::SRArticulatedRobot
boost::mutex	controllers_map_mutex

JointsMap	joints_map
	A mapping between the joint names and the information regarding those joints. More...

boost::mutex	joints_map_mutex

ParametersMap	parameters_map
	A mapping between the parameter names and their values. More...

boost::mutex	parameters_map_mutex

Detailed Description

This compatibility interface is a wrapper around the new etherCAT Hand ROS driver. It is used to present the same interface as the CAN hand.

Definition at line 48 of file etherCAT_compatibility_hand.hpp.

Constructor & Destructor Documentation

ROS_DEPRECATED shadowrobot::EtherCATCompatibilityHand::EtherCATCompatibilityHand ( )

Initializes the necessary mappings with a static list of names.

Definition at line 41 of file etherCAT_compatibility_hand.cpp.

shadowrobot::EtherCATCompatibilityHand::~EtherCATCompatibilityHand ( )

virtual

Definition at line 54 of file etherCAT_compatibility_hand.cpp.

Member Function Documentation

std::string shadowrobot::EtherCATCompatibilityHand::findControllerTopicName ( std::string joint_name )

protected

Finds the controller suffix to use for a certain joint based on listening to the controller state for that joint. mixed_position_velocity_controller and position_controller are checked. If none of them is sending messages, the "controller_suffix" parameter is used

Full controller command topic name is returned

Definition at line 232 of file etherCAT_compatibility_hand.cpp.

SRArticulatedRobot::JointsMap shadowrobot::EtherCATCompatibilityHand::getAllJointsData ( )

virtual

Get the data for all the joints.

Returns: a mapping between the joints names and the information for each joint.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 317 of file etherCAT_compatibility_hand.cpp.

void shadowrobot::EtherCATCompatibilityHand::getConfig ( std::string joint_name )

virtual

Get the config of the palm

Todo:: Not implemented yet

Parameters

joint_name

Implements shadowrobot::SRArticulatedRobot.

Definition at line 345 of file etherCAT_compatibility_hand.cpp.

JointControllerData shadowrobot::EtherCATCompatibilityHand::getContrl ( std::string contrlr_name )

virtual

Get the controller parameters for a given controller name.

Parameters

contrlr_name the name of the controller.

Returns: The parameters of this controller

Implements shadowrobot::SRArticulatedRobot.

Definition at line 330 of file etherCAT_compatibility_hand.cpp.

std::vector< DiagnosticData > shadowrobot::EtherCATCompatibilityHand::getDiagnostics ( )

virtual

Not used in this interface: the diagnostics are published directly by the EtherCAT hand driver.

Returns: A vector containing all the diagnostics for the hand (motor information, etc...)

Implements shadowrobot::SRArticulatedRobot.

Definition at line 350 of file etherCAT_compatibility_hand.cpp.

JointData shadowrobot::EtherCATCompatibilityHand::getJointData ( std::string joint_name )

virtual

Returns the last data we received for the given joint.

Parameters

joint_name The name of the joint, as specified in joints_map.

Returns: The information regarding this joint.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 293 of file etherCAT_compatibility_hand.cpp.

void shadowrobot::EtherCATCompatibilityHand::initializeMap ( )

protected

Initialize a mapping for the joints and the publishers.

Definition at line 58 of file etherCAT_compatibility_hand.cpp.

void shadowrobot::EtherCATCompatibilityHand::joint_states_callback ( const sensor_msgs::JointStateConstPtr & msg )

protected

This callback is called each time a joint state message is received. We Update the internal joint map when we receive this message.

Parameters

msg	the joint state message.

Definition at line 356 of file etherCAT_compatibility_hand.cpp.

int16_t shadowrobot::EtherCATCompatibilityHand::sendupdate	(	std::string	joint_name,
		double	target
	)

virtual

This function will send the targets to the correct controllers.

Parameters

joint_name	The Joint in joints_map you wish to send the target to.
target	The target in degree

Returns: 0 if success ; -1 if error

Implements shadowrobot::SRArticulatedRobot.

Definition at line 251 of file etherCAT_compatibility_hand.cpp.

int16_t shadowrobot::EtherCATCompatibilityHand::setConfig ( std::vector< std::string > myConfig )

virtual

Set the config of the palm

Todo:: Not implemented yet

Parameters

myConfig

Returns

Implements shadowrobot::SRArticulatedRobot.

Definition at line 339 of file etherCAT_compatibility_hand.cpp.

int16_t shadowrobot::EtherCATCompatibilityHand::setContrl	(	std::string	contrlr_name,
		JointControllerData	ctrlr_data
	)

virtual

Set the controller parameters for a given controller name.

Parameters

contrlr_name	The name of the controller to setup.
ctrlr_data	The data to pass to this controller.

Returns: 0 if success.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 322 of file etherCAT_compatibility_hand.cpp.

Member Data Documentation

std::vector<ros::Publisher> shadowrobot::EtherCATCompatibilityHand::etherCAT_publishers

protected

Definition at line 122 of file etherCAT_compatibility_hand.hpp.

ros::Subscriber shadowrobot::EtherCATCompatibilityHand::joint_state_subscriber

protected

Definition at line 125 of file etherCAT_compatibility_hand.hpp.

ros::NodeHandle shadowrobot::EtherCATCompatibilityHand::n_tilde

protected

Definition at line 96 of file etherCAT_compatibility_hand.hpp.

ros::NodeHandle shadowrobot::EtherCATCompatibilityHand::node

protected

Definition at line 96 of file etherCAT_compatibility_hand.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation