#include <iostream>#include <boost/thread/thread.hpp>#include <boost/date_time.hpp>#include <boost/thread/locks.hpp>#include "ros/ros.h"#include "ros/service.h"#include "ros/service_server.h"#include "sensor_msgs/JointState.h"#include "std_msgs/String.h"#include <stdio.h>#include <string>#include "BHand/BHand.h"#include "controlAllegroHand.h"
Go to the source code of this file.
Defines | |
| #define | JOINT_CMD_TOPIC "/allegroHand/joint_cmd" |
| #define | JOINT_STATE_TOPIC "/allegroHand/joint_states" |
| #define | LIB_CMD_TOPIC "/allegroHand/lib_cmd" |
Functions | |
| void | libCmdCallback (const std_msgs::String::ConstPtr &msg) |
| int | main (int argc, char **argv) |
| void | SetjointCallback (const sensor_msgs::JointState &msg) |
Variables | |
| controlAllegroHand * | canDevice |
| double | current_position [DOF_JOINTS] = {0.0} |
| double | current_position_filtered [DOF_JOINTS] = {0.0} |
| double | current_velocity [DOF_JOINTS] = {0.0} |
| double | current_velocity_filtered [DOF_JOINTS] = {0.0} |
| double | desired_position [DOF_JOINTS] = {0.0} |
| double | desired_torque [DOF_JOINTS] = {0.0} |
| double | dt |
| int | frame = 0 |
| eMotionType | gMotionType = eMotionType_NONE |
| ros::Subscriber | joint_cmd_sub |
| ros::Publisher | joint_state_pub |
| std::string | jointNames [DOF_JOINTS] |
| bool | kill = false |
| int | lEmergencyStop = 0 |
| std::string | lib_cmd |
| ros::Subscriber | lib_cmd_sub |
| bool | lIsBegin = false |
| sensor_msgs::JointState | msgJoint |
| boost::mutex * | mutex |
| BHand * | pBHand = NULL |
| bool | pdControl = true |
| double | previous_position [DOF_JOINTS] = {0.0} |
| double | previous_position_filtered [DOF_JOINTS] = {0.0} |
| double | previous_velocity [DOF_JOINTS] = {0.0} |
| double | secs |
| ros::Time | tnow |
| ros::Time | tstart |
Define Documentation
| #define JOINT_CMD_TOPIC "/allegroHand/joint_cmd" |
Definition at line 31 of file allegroNode.cpp.
| #define JOINT_STATE_TOPIC "/allegroHand/joint_states" |
Definition at line 30 of file allegroNode.cpp.
| #define LIB_CMD_TOPIC "/allegroHand/lib_cmd" |
Definition at line 32 of file allegroNode.cpp.
Function Documentation
| void libCmdCallback | ( | const std_msgs::String::ConstPtr & | msg | ) |
Definition at line 101 of file allegroNode.cpp.
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 161 of file allegroNode.cpp.
| void SetjointCallback | ( | const sensor_msgs::JointState & | msg | ) |
Definition at line 89 of file allegroNode.cpp.
Variable Documentation
| controlAllegroHand* canDevice |
Definition at line 84 of file allegroNode.cpp.
| double current_position[DOF_JOINTS] = {0.0} |
Definition at line 36 of file allegroNode.cpp.
| double current_position_filtered[DOF_JOINTS] = {0.0} |
Definition at line 38 of file allegroNode.cpp.
| double current_velocity[DOF_JOINTS] = {0.0} |
Definition at line 41 of file allegroNode.cpp.
| double current_velocity_filtered[DOF_JOINTS] = {0.0} |
Definition at line 43 of file allegroNode.cpp.
| double desired_position[DOF_JOINTS] = {0.0} |
Definition at line 35 of file allegroNode.cpp.
| double desired_torque[DOF_JOINTS] = {0.0} |
Definition at line 45 of file allegroNode.cpp.
| double dt |
Definition at line 75 of file allegroNode.cpp.
| int frame = 0 |
Definition at line 55 of file allegroNode.cpp.
| eMotionType gMotionType = eMotionType_NONE |
Definition at line 78 of file allegroNode.cpp.
Definition at line 67 of file allegroNode.cpp.
Definition at line 66 of file allegroNode.cpp.
| std::string jointNames[DOF_JOINTS] |
{ "joint_0.0", "joint_1.0", "joint_2.0", "joint_3.0" ,
"joint_4.0", "joint_5.0", "joint_6.0", "joint_7.0" ,
"joint_8.0", "joint_9.0", "joint_10.0", "joint_11.0",
"joint_12.0", "joint_13.0", "joint_14.0", "joint_15.0" }
Definition at line 50 of file allegroNode.cpp.
| bool kill = false |
Definition at line 59 of file allegroNode.cpp.
| int lEmergencyStop = 0 |
Definition at line 61 of file allegroNode.cpp.
| std::string lib_cmd |
Definition at line 47 of file allegroNode.cpp.
Definition at line 68 of file allegroNode.cpp.
| bool lIsBegin = false |
Definition at line 58 of file allegroNode.cpp.
| sensor_msgs::JointState msgJoint |
Definition at line 69 of file allegroNode.cpp.
Definition at line 63 of file allegroNode.cpp.
| BHand* pBHand = NULL |
Definition at line 79 of file allegroNode.cpp.
| bool pdControl = true |
Definition at line 60 of file allegroNode.cpp.
| double previous_position[DOF_JOINTS] = {0.0} |
Definition at line 37 of file allegroNode.cpp.
| double previous_position_filtered[DOF_JOINTS] = {0.0} |
Definition at line 39 of file allegroNode.cpp.
| double previous_velocity[DOF_JOINTS] = {0.0} |
Definition at line 42 of file allegroNode.cpp.
| double secs |
Definition at line 74 of file allegroNode.cpp.
Definition at line 73 of file allegroNode.cpp.
Definition at line 72 of file allegroNode.cpp.