Inheritance diagram for shadowrobot::SrTactileSensorManager:

Protected Member Functions
std::vector< std::vector< std::string > >	get_all_names ()

bool	is_hand_occupied_cb (sr_robot_msgs::is_hand_occupied::Request &req, sr_robot_msgs::is_hand_occupied::Response &res)

bool	which_fingers_are_touching_cb (sr_robot_msgs::which_fingers_are_touching::Request &req, sr_robot_msgs::which_fingers_are_touching::Response &res)

Protected Attributes
ros::ServiceServer	is_hand_occupied_server

std::vector< double >	is_hand_occupied_thresholds

ros::NodeHandle	n_tilde

ros::Rate	publish_rate

std::vector< boost::shared_ptr< SrGenericTactileSensor > >	tactile_sensors

ros::ServiceServer	which_fingers_are_touching_server

Detailed Description

Constructor & Destructor Documentation

shadowrobot::SrTactileSensorManager::SrTactileSensorManager ( )

shadowrobot::SrTactileSensorManager::~SrTactileSensorManager ( )

std::vector< std::vector< std::string > > shadowrobot::SrTactileSensorManager::get_all_names ( )

protected

Get all the necessary names for the tactile sensors: the display names, the touch sensor name (for the robot).

Those names are read from the parameter server. They are stored in params/sensor_names.yaml

Returns: a vector containing 3 vectors for the display_names and the sensor_touch_names ; in this order.

bool shadowrobot::SrTactileSensorManager::is_hand_occupied_cb	(	sr_robot_msgs::is_hand_occupied::Request &	req,
		sr_robot_msgs::is_hand_occupied::Response &	res
	)

protected

Callback for the service to check if the hand is occupied. This is were we actually check if the hand is holding something or not.

For the time being, we simply check if the sensors have a bigger value than a list of thresholds.

Parameters

req	empty request.
res	true if the hand contains something.

void shadowrobot::SrTactileSensorManager::publish_all ( )

Calls the publish_current_values for each of the tactile sensors.

bool shadowrobot::SrTactileSensorManager::which_fingers_are_touching_cb	(	sr_robot_msgs::which_fingers_are_touching::Request &	req,
		sr_robot_msgs::which_fingers_are_touching::Response &	res
	)

protected

Callback for the service to check which fingers are touching, with a given force.

Parameters

req	contains the forces thresholds for each finger.
res	a vector of 5 doubles representing the contact forces. If 0.0 -> not touching, if > 0.0 -> current force.