#include <virtual_arm.h>

Inheritance diagram for shadowrobot::VirtualArm:

Public Member Functions
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)

	VirtualArm ()

virtual	~VirtualArm ()

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

virtual	~SRArticulatedRobot ()

Protected Member Functions
void	initializeMap ()

double	toDegrees (double rad)

double	toRad (double deg)

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

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

Detailed Description

Definition at line 35 of file virtual_arm.h.

Constructor & Destructor Documentation

shadowrobot::VirtualArm::VirtualArm ( )

Initializes the necessary mappings with a static list of names.

Definition at line 42 of file virtual_arm.cpp.

shadowrobot::VirtualArm::~VirtualArm ( )

virtual

Definition at line 64 of file virtual_arm.cpp.

Member Function Documentation

SRArticulatedRobot::JointsMap shadowrobot::VirtualArm::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 227 of file virtual_arm.cpp.

void shadowrobot::VirtualArm::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 270 of file virtual_arm.cpp.

JointControllerData shadowrobot::VirtualArm::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 257 of file virtual_arm.cpp.

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

virtual

Generates a set of random data to be published by the diagnostic publisher, but keep the position and target as they are ( those are updated by the sendupdate() function).

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

Implements shadowrobot::SRArticulatedRobot.

Definition at line 275 of file virtual_arm.cpp.

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

virtual

In the virtual arm, getJointData() simply fetches the data from a given joint in the joints_map. As the targets and positions are up to date, there's no need of reading other values here for those two values. However, we generate random values for the other data (temperature, current, etc...)

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 201 of file virtual_arm.cpp.

void shadowrobot::VirtualArm::initializeMap ( )

protected

Initialise a mapping for the joints.

Definition at line 68 of file virtual_arm.cpp.

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

virtual

This function will set the target of the object to the given angle. It will also set the position to this target.

Todo:: This could be improved by implementing a control algorithm in this theoretic arm.

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 157 of file virtual_arm.cpp.

int16_t shadowrobot::VirtualArm::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 264 of file virtual_arm.cpp.

int16_t shadowrobot::VirtualArm::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 251 of file virtual_arm.cpp.

double shadowrobot::VirtualArm::toDegrees ( double rad )

inlineprotected

Convert an angle in radian to an angle in degrees.

Parameters

rad	the angle in rads

Returns: the value in degrees.

Definition at line 117 of file virtual_arm.h.

double shadowrobot::VirtualArm::toRad ( double deg )

inlineprotected

Convert an angle in degree to an angle in radians.

Parameters

deg	the angle in degrees

Returns: the value in rads.

Definition at line 107 of file virtual_arm.h.

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation