#include <biotac.hpp>
Public Member Functions | |
| virtual void | add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d) |
| Biotac (std::vector< generic_updater::UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state) | |
| Biotac (std::vector< generic_updater::UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state, boost::shared_ptr< std::vector< GenericTactileData > > init_tactiles_vector) | |
| virtual std::vector < AllTactileData > * | get_tactile_data () |
| void | init (std::vector< generic_updater::UpdateConfig > update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state) |
| virtual void | publish () |
| virtual void | update (ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS *status_data) |
| ~Biotac () | |
Protected Attributes | |
| boost::shared_ptr < realtime_tools::RealtimePublisher < sr_robot_msgs::BiotacAll > > | tactile_publisher |
| boost::shared_ptr< std::vector < BiotacData > > | tactiles_vector |
| the vector containing the data for the tactiles. | |
Detailed Description
Definition at line 41 of file biotac.hpp.
Constructor & Destructor Documentation
| tactiles::Biotac::Biotac | ( | std::vector< generic_updater::UpdateConfig > | update_configs_vector, |
| operation_mode::device_update_state::DeviceUpdateState | update_state | ||
| ) |
Definition at line 33 of file biotac.cpp.
| tactiles::Biotac::Biotac | ( | std::vector< generic_updater::UpdateConfig > | update_configs_vector, |
| operation_mode::device_update_state::DeviceUpdateState | update_state, | ||
| boost::shared_ptr< std::vector< GenericTactileData > > | init_tactiles_vector | ||
| ) |
Definition at line 39 of file biotac.cpp.
| tactiles::Biotac::~Biotac | ( | ) | [inline] |
Definition at line 47 of file biotac.hpp.
Member Function Documentation
| void tactiles::Biotac::add_diagnostics | ( | std::vector< diagnostic_msgs::DiagnosticStatus > & | vec, |
| diagnostic_updater::DiagnosticStatusWrapper & | d | ||
| ) | [virtual] |
This function adds the diagnostics for the tactiles to the multi diagnostic status published by the hand.
Reimplemented from tactiles::GenericTactiles.
Definition at line 267 of file biotac.cpp.
| std::vector< AllTactileData > * tactiles::Biotac::get_tactile_data | ( | ) | [virtual] |
Reimplemented from tactiles::GenericTactiles.
Definition at line 291 of file biotac.cpp.
| void tactiles::Biotac::init | ( | std::vector< generic_updater::UpdateConfig > | update_configs_vector, |
| operation_mode::device_update_state::DeviceUpdateState | update_state | ||
| ) |
This function is called in the constructors, to initialize the necessary objects
Definition at line 51 of file biotac.cpp.
| void tactiles::Biotac::publish | ( | ) | [virtual] |
Publish the information to a ROS topic.
Reimplemented from tactiles::GenericTactiles.
Definition at line 221 of file biotac.cpp.
| void tactiles::Biotac::update | ( | ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS * | status_data | ) | [virtual] |
This function is called each time a new etherCAT message is received in the sr06.cpp driver. It updates the tactile sensors values contained in tactiles_vector.
- Parameters:
-
status_data the received etherCAT message
Reimplemented from tactiles::GenericTactiles.
Definition at line 61 of file biotac.cpp.
Member Data Documentation
boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::BiotacAll> > tactiles::Biotac::tactile_publisher [protected] |
Definition at line 84 of file biotac.hpp.
boost::shared_ptr< std::vector<BiotacData> > tactiles::Biotac::tactiles_vector [protected] |
the vector containing the data for the tactiles.
Reimplemented from tactiles::GenericTactiles.
Definition at line 81 of file biotac.hpp.
The documentation for this class was generated from the following files: