#include <demonstrator_control.h>

Inheritance diagram for MapDemonCtrl:

Public Member Functions
virtual bool	close ()
	Close.
virtual std::string	getErrorMessage () const
virtual std::vector< double >	getPositions ()
	Gets the current positions.
virtual std::vector< double >	getVelocities ()
	Gets the current velcities.
virtual bool	init (DemonstratorParams *params)
	Initializing.
virtual bool	isInitialized () const
	MapDemonCtrl (DemonstratorParams *params)
	Constructor.
virtual bool	movePos (const std::vector< double > &target_positions)
virtual bool	recover ()
	Recovery after emergency stop or power supply failure.
virtual bool	runCalibration ()
bool	setMaxVelocity (const std::vector< double > &velocities)
virtual void	setVelocity ()
	Sets the maximum angular velocity (rad/s) for the Joints, use with care!
virtual bool	stop ()
virtual bool	updatePositions ()
virtual	~MapDemonCtrl ()
	Destructor.
Public Attributes
pthread_mutex_t	m_mutex
Protected Attributes
int	device_handle_
double	encoder_
std::string	error_message_
bool	initialized_
ros::Time	last_time_pub_
std::vector< double >	old_positions_
DemonstratorParams *	params_
std::vector< double >	positions_
SerialDevice *	sd_
bool	serial_device_opened_
std::vector< double >	velocities_

Detailed Description

Definition at line 13 of file demonstrator_control.h.

Constructor & Destructor Documentation

MapDemonCtrl::MapDemonCtrl ( DemonstratorParams * params )

Constructor.

Definition at line 14 of file demonstrator_control.cpp.

MapDemonCtrl::~MapDemonCtrl ( ) [virtual]

Destructor.

shut the robot position output

Definition at line 24 of file demonstrator_control.cpp.

Member Function Documentation

bool MapDemonCtrl::close ( ) [virtual]

Close.

Reimplemented in MapDemonCtrlMaestro.

Definition at line 452 of file demonstrator_control.cpp.

virtual std::string MapDemonCtrl::getErrorMessage ( ) const [inline, virtual]

Definition at line 38 of file demonstrator_control.h.

virtual std::vector<double> MapDemonCtrl::getPositions ( ) [inline, virtual]

Gets the current positions.

Definition at line 62 of file demonstrator_control.h.

virtual std::vector<double> MapDemonCtrl::getVelocities ( ) [inline, virtual]

Gets the current velcities.

Definition at line 70 of file demonstrator_control.h.

bool MapDemonCtrl::init ( DemonstratorParams * params ) [virtual]

Initializing.

get serial port configurable parameters

now open serial port

this is for security. in case the robot is already outputing data, shut it...

...and flush serial port input buffer

run pan calibration

Reimplemented in MapDemonCtrlMaestro.

Definition at line 37 of file demonstrator_control.cpp.

virtual bool MapDemonCtrl::isInitialized ( ) const [inline, virtual]

Definition at line 28 of file demonstrator_control.h.

bool MapDemonCtrl::movePos ( const std::vector< double > & target_positions ) [virtual]

TODO: Mathematically simplify

convert radians to step number, consider offset

Reimplemented in MapDemonCtrlMaestro.

Definition at line 217 of file demonstrator_control.cpp.

bool MapDemonCtrl::recover ( ) [virtual]

Recovery after emergency stop or power supply failure.

shut reposition messages from the robot

Reimplemented in MapDemonCtrlMaestro.

Definition at line 464 of file demonstrator_control.cpp.

bool MapDemonCtrl::runCalibration ( ) [virtual]

Shut robot output in case it was already enabled...

...and flush serial port input buffer

Run encoder calibration

get messages till 'L' is received (this is necessary because if the message output of the robot was enabled, between the flush buffer and this we still could have received a few characters from that, before the 'L'.

if tryout

Reposition to Home in case of existant Offsets

Reimplemented in MapDemonCtrlMaestro.

Definition at line 168 of file demonstrator_control.cpp.

bool MapDemonCtrl::setMaxVelocity ( const std::vector< double > & velocities )