Inheritance diagram for TestHandLib:

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Public Member Functions
	TestHandLib (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh)

Public Member Functions inherited from HandLibTestProtected
	HandLibTestProtected (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh)

Public Member Functions inherited from shadow_robot::SrMotorHandLib< STATUS_TYPE, COMMAND_TYPE >
bool	force_pid_callback (sr_robot_msgs::ForceController::Request &request, sr_robot_msgs::ForceController::Response &response, int motor_index)

bool	reset_motor_callback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response, std::pair< int, std::string > joint)

	SrMotorHandLib (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh, ros::NodeHandle nhtilde, std::string device_id, std::string joint_prefix)

Public Member Functions inherited from shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >
void	add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)

void	build_command (COMMAND_TYPE *command)

void	reinitialize_motors ()

	SrMotorRobotLib (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh, ros::NodeHandle nhtilde, std::string device_id, std::string joint_prefix)

void	update (STATUS_TYPE *status_data)

Public Member Functions inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
void	build_tactile_command (COMMAND_TYPE *command)

bool	nullify_demand_callback (sr_robot_msgs::NullifyDemand::Request &request, sr_robot_msgs::NullifyDemand::Response &response)

void	reinitialize_sensors ()

	SrRobotLib (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh, ros::NodeHandle nhtilde, std::string device_id, std::string joint_prefix)

void	update_tactile_info (STATUS_TYPE *status)

virtual	~SrRobotLib ()

Additional Inherited Members
Public Types inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
typedef std::map< std::string, CoupledJoint >	CoupledJointMapType

Public Attributes inherited from shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >
operation_mode::device_update_state::DeviceUpdateState	motor_current_state

Public Attributes inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
shadow_joints::CalibrationMap	calibration_map
	The map used to calibrate each joint. More...

CoupledJointMapType	coupled_calibration_map

ros_ethercat_model::RobotState *	hw_

boost::shared_ptr< boost::mutex >	lock_tactile_init_timeout_
	A mutual exclusion object to ensure that the intitialization timeout event does work without threading issues. More...

int	main_pic_idle_time

int	main_pic_idle_time_min

ros::Timer	tactile_check_init_timeout_timer

operation_mode::device_update_state::DeviceUpdateState	tactile_current_state

ros::Duration	tactile_init_max_duration

boost::shared_ptr< tactiles::GenericTactiles< STATUS_TYPE, COMMAND_TYPE > >	tactiles

boost::shared_ptr< tactiles::GenericTactiles< STATUS_TYPE, COMMAND_TYPE > >	tactiles_init

Static Public Attributes inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
static const double	tactile_timeout
	Timeout handling variables for UBI sensors. More...

Protected Types inherited from shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >
typedef std::pair< int, std::vector< crc_unions::union16 > >	ForceConfig

Protected Member Functions inherited from shadow_robot::SrMotorHandLib< STATUS_TYPE, COMMAND_TYPE >
std::string	find_joint_name (int motor_index)

virtual void	initialize (std::vector< std::string > joint_names, std::vector< int > actuator_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors)

void	update_force_control_in_param_server (std::string joint_name, int max_pwm, int sg_left, int sg_right, int f, int p, int i, int d, int imax, int deadband, int sign, int torque_limit, int torque_limiter_gain)

Protected Member Functions inherited from shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >
void	calibrate_joint (std::vector< shadow_joints::Joint >::iterator joint_tmp, STATUS_TYPE *status_data)

bool	change_control_parameters (int16_t control_type)

bool	change_control_type_callback_ (sr_robot_msgs::ChangeControlType::Request &request, sr_robot_msgs::ChangeControlType::Response &response)

bool	check_if_joint_coupled (string joint_name)

int	find_joint_by_name (string joint_name)

void	generate_force_control_config (int motor_index, int max_pwm, int sg_left, int sg_right, int f, int p, int i, int d, int imax, int deadband, int sign, int torque_limit, int torque_limiter_gain)

sr_actuator::SrMotorActuator *	get_joint_actuator (std::vector< shadow_joints::Joint >::iterator joint_tmp)

std::vector< std::pair< std::string, bool > >	humanize_flags (int flag)

bool	motor_system_controls_callback_ (sr_robot_msgs::ChangeMotorSystemControls::Request &request, sr_robot_msgs::ChangeMotorSystemControls::Response &response)

void	process_position_sensor_data (std::vector< shadow_joints::Joint >::iterator joint_tmp, STATUS_TYPE *status_data, double timestamp)

void	read_additional_data (std::vector< shadow_joints::Joint >::iterator joint_tmp, STATUS_TYPE *status_data)

Protected Member Functions inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
void	checkSelfTests ()
	It is run in a separate thread and calls the checkTests() method of the self_tests_. More...

CoupledJointMapType	read_coupled_joint_calibration ()

shadow_joints::CalibrationMap	read_joint_calibration ()

std::vector< shadow_joints::JointToSensor >	read_joint_to_sensor_mapping ()

std::vector< generic_updater::UpdateConfig >	read_update_rate_configs (std::string base_param, int nb_data_defined, const char *human_readable_data_types[], const int32u data_types[])

void	tactile_init_timer_callback (const ros::TimerEvent &event)

Protected Attributes inherited from shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >
ros::ServiceServer	change_control_type_

int	config_index

sr_robot_msgs::ControlType	control_type_

bool	control_type_changed_flag_

int8u	crc_byte

int8u	crc_i

int16u	crc_result

int	index_motor_in_msg

boost::shared_ptr< boost::mutex >	lock_command_sending_

boost::shared_ptr< generic_updater::MotorDataChecker >	motor_data_checker

int	motor_index_full

std::queue< std::vector< sr_robot_msgs::MotorSystemControls >, std::list< std::vector< sr_robot_msgs::MotorSystemControls > > >	motor_system_control_flags_

ros::ServiceServer	motor_system_control_server_

std::vector< generic_updater::UpdateConfig >	motor_update_rate_configs_vector

boost::shared_ptr< generic_updater::MotorUpdater< COMMAND_TYPE > >	motor_updater_

std::queue< ForceConfig, std::list< ForceConfig > >	reconfig_queue

std::queue< int16_t, std::list< int16_t > >	reset_motors_queue

Protected Attributes inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
std::vector< generic_updater::UpdateConfig >	biotac_sensor_update_rate_configs_vector

boost::shared_ptr< shadow_robot::JointCalibration >	calibration_tmp
	A temporary calibration for a given joint. More...

std::string	device_id_
	Id of the ethercat device (alias) More...

std::vector< generic_updater::UpdateConfig >	generic_sensor_update_rate_configs_vector

std::string	joint_prefix_
	Prefix used to access the joints. More...

std::vector< shadow_joints::Joint >	joints_vector
	The vector containing all the robot joints. More...

ros::NodeHandle	nh_tilde
	a ROS nodehandle (private naming, only inside the node namespace) to be able to advertise the Force PID service More...

ros::NodeHandle	nodehandle_
	a ros nodehandle to be able to access resources out of the node namespace More...

bool	nullify_demand_

ros::ServiceServer	nullify_demand_server_

std::vector< generic_updater::UpdateConfig >	pst3_sensor_update_rate_configs_vector

boost::shared_ptr< boost::thread >	self_test_thread_

std::vector< generic_updater::UpdateConfig >	ubi0_sensor_update_rate_configs_vector

Static Protected Attributes inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
static const char *	human_readable_sensor_data_types []

static const int	nb_sensor_data

static const int32u	sensor_data_types []

Detailed Description

For the next tests we want to have access to the calibrate_joint method which is protected in our code. The method is found at: http://code.google.com/p/googletest/wiki/V1_6_FAQ#How_do_I_test_private_class_members_without_writing_FRIEND_TEST(

Definition at line 469 of file test_robot_lib.cpp.

Constructor & Destructor Documentation

TestHandLib::TestHandLib	(	hardware_interface::HardwareInterface *	hw,
		ros::NodeHandle	nh
	)

inline

Definition at line 474 of file test_robot_lib.cpp.

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

test_robot_lib.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation