This is a parent class for the different types of Shadowhand we can have. It makes it possible to swap from a virtual to a real hand while using the same utilities to interact with the hand. One (or more) ROS subscriber and publisher can then share the same instance of a Shadowhand object to update the information contained in this object. More...

#include <sr_articulated_robot.h>

Inheritance diagram for shadowrobot::SRArticulatedRobot:

[legend]

Public Types
typedef std::map< std::string, JointData >	JointsMap

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

Public Member Functions
virtual JointsMap	getAllJointsData ()=0

virtual void	getConfig (std::string joint_name)=0

virtual JointControllerData	getContrl (std::string contrlr_name)=0

virtual std::vector< DiagnosticData >	getDiagnostics ()=0

virtual JointData	getJointData (std::string joint_name)=0

virtual int16_t	sendupdate (std::string joint_name, double target)=0

virtual int16_t	setConfig (std::vector< std::string > myConfig)=0

virtual int16_t	setContrl (std::string contrlr_name, JointControllerData ctrlr_data)=0

	SRArticulatedRobot ()

virtual	~SRArticulatedRobot ()

Public Attributes
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

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

Detailed Description

This is a parent class for the different types of Shadowhand we can have. It makes it possible to swap from a virtual to a real hand while using the same utilities to interact with the hand. One (or more) ROS subscriber and publisher can then share the same instance of a Shadowhand object to update the information contained in this object.

Definition at line 257 of file sr_articulated_robot.h.

Member Typedef Documentation

typedef std::map<std::string, JointData> shadowrobot::SRArticulatedRobot::JointsMap

See also: joints_map

Definition at line 273 of file sr_articulated_robot.h.

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

See also: parameters_map

Definition at line 278 of file sr_articulated_robot.h.

Constructor & Destructor Documentation

shadowrobot::SRArticulatedRobot::SRArticulatedRobot ( )

inline

empty constructor.

Definition at line 264 of file sr_articulated_robot.h.

virtual shadowrobot::SRArticulatedRobot::~SRArticulatedRobot ( )

inlinevirtual

empty destructor.

Definition at line 271 of file sr_articulated_robot.h.

Member Function Documentation

virtual JointsMap shadowrobot::SRArticulatedRobot::getAllJointsData ( )

pure virtual

Get the data for all the joints.

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

Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::RealArm, shadowrobot::VirtualArm, and shadowrobot::VirtualShadowhandLibrary.

virtual void shadowrobot::SRArticulatedRobot::getConfig ( std::string joint_name )

pure virtual

Get the config of the palm

Todo:: Not implemented yet

Parameters

joint_name

Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::RealArm, shadowrobot::VirtualArm, and shadowrobot::VirtualShadowhandLibrary.

virtual JointControllerData shadowrobot::SRArticulatedRobot::getContrl ( std::string contrlr_name )

pure virtual

Get the controller parameters for a given controller name.

Parameters

contrlr_name the name of the controller.

Returns: The parameters of this controller

Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::RealArm, shadowrobot::VirtualArm, and shadowrobot::VirtualShadowhandLibrary.

virtual std::vector<DiagnosticData> shadowrobot::SRArticulatedRobot::getDiagnostics ( )

pure virtual

Get the diagnostics for the whole articulated robot.

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

Implemented in shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::RealShadowhand, shadowrobot::VirtualArm, shadowrobot::RealArm, and shadowrobot::VirtualShadowhandLibrary.

virtual JointData shadowrobot::SRArticulatedRobot::getJointData ( std::string joint_name )

pure virtual

Get the joint data for a specific joint.

See also: JointData

Parameters

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

Returns: The information regarding this joint.

Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::RealArm, shadowrobot::VirtualArm, and shadowrobot::VirtualShadowhandLibrary.

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

pure virtual

Generic method called to pass a new target to an articulated robot.

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

Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::RealArm, shadowrobot::VirtualArm, and shadowrobot::VirtualShadowhandLibrary.

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

pure virtual

Set the config of the palm

Todo:: Not implemented yet

Parameters

myConfig

Returns

Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::RealArm, shadowrobot::VirtualArm, and shadowrobot::VirtualShadowhandLibrary.

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

pure 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.

Implemented in shadowrobot::RealShadowhand, shadowrobot::VirtualShadowhand, shadowrobot::EtherCATCompatibilityHand, shadowrobot::CANCompatibilityArm, shadowrobot::RealArm, shadowrobot::VirtualArm, and shadowrobot::VirtualShadowhandLibrary.

Member Data Documentation

boost::mutex shadowrobot::SRArticulatedRobot::controllers_map_mutex

Definition at line 347 of file sr_articulated_robot.h.

JointsMap shadowrobot::SRArticulatedRobot::joints_map

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

Definition at line 340 of file sr_articulated_robot.h.

boost::mutex shadowrobot::SRArticulatedRobot::joints_map_mutex

Definition at line 345 of file sr_articulated_robot.h.

ParametersMap shadowrobot::SRArticulatedRobot::parameters_map

A mapping between the parameter names and their values.

Definition at line 343 of file sr_articulated_robot.h.

boost::mutex shadowrobot::SRArticulatedRobot::parameters_map_mutex

Definition at line 346 of file sr_articulated_robot.h.

boost::shared_ptr<self_test::TestRunner> shadowrobot::SRArticulatedRobot::self_test

protected

this is the handle for the self tests.

Definition at line 351 of file sr_articulated_robot.h.

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

sr_articulated_robot.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation