#include <GripperEnvironment.h>

Classes
struct	GripperEnvInfo
Public Member Functions
void	createGripperEnvironmentMsg (r2_msgs::GripperEnvironment &gripEnv)
	create messages from data
std::string	getBaseFrame ()
int	getGoalStatusArraySize ()
bool	getMapEntry (const std::string &name, GripperEnvInfo &info)
	for unit testing
	GripperEnvironment ()
void	initializeMap (const std::vector< std::string > &grippers)
	intitialize
void	populateBaseFrameInfo (const r2_msgs::StringArray &baseFrames)
void	populateGoalStatus (const actionlib_msgs::GoalStatusArray &goalStats)
void	populateGripperStateInfo (const r2_msgs::GripperPositionState &eefState)
	put data into maps
void	populatePoseStateInfo (const r2_msgs::PoseState &poseCmd)
void	setComponentNames (const std::string &handrail, const std::string &seatTrack)
void	setUserCommand (const std::string gripperName, const int &cmd)
void	update ()
	do the work
	~GripperEnvironment ()
Private Member Functions
bool	checkForFreespaceUserCmd (std::map< std::string, GripperEnvInfo >::iterator &gripIt)
bool	checkForHighForce (std::map< std::string, GripperEnvInfo >::iterator &gripIt, int &attachType)
bool	checkForHighForceUserCmd (std::map< std::string, GripperEnvInfo >::iterator &gripIt, int &attachType)
bool	checkForMovement (const std::map< std::string, GripperEnvInfo >::iterator &gripIt)
bool	checkGoalStatus (const std::string &gripper, int &attachType)
int	findAttachType (const std::string &input)
bool	isBaseFrame (const std::map< std::string, GripperEnvInfo >::iterator &gripIt)
bool	isGripperLocked (const std::map< std::string, GripperEnvInfo >::iterator &gripIt)
void	transToFreespace (std::map< std::string, GripperEnvInfo >::iterator &gripIt)
void	transToHighForce (const int &attachType, std::map< std::string, GripperEnvInfo >::iterator &gripIt)
Private Attributes
std::string	baseFrame
std::vector< std::string >	baseFrameList
std::map< std::string, GripperEnvInfo >::iterator	envIt
KDL::Twist	frameDiff
actionlib_msgs::GoalStatusArray	goalStatuses
std::map< std::string, GripperEnvInfo >	gripperEnvMap
std::string	handrailComponent
std::string	name
std::vector< std::string > ::iterator	nameIt
std::string	seatTrackComponent
KDL::Frame	tempFrame
int	type

Detailed Description

Definition at line 19 of file GripperEnvironment.h.

Constructor & Destructor Documentation

GripperEnvironment::GripperEnvironment ( )

Definition at line 3 of file GripperEnvironment.cpp.

GripperEnvironment::~GripperEnvironment ( )

Definition at line 7 of file GripperEnvironment.cpp.

Member Function Documentation

bool GripperEnvironment::checkForFreespaceUserCmd ( std::map< std::string, GripperEnvInfo >::iterator & gripIt ) [private]

Definition at line 262 of file GripperEnvironment.cpp.

bool GripperEnvironment::checkForHighForce	(	std::map< std::string, GripperEnvInfo >::iterator &	gripIt,
		int &	attachType
	)		`[private]`

Definition at line 245 of file GripperEnvironment.cpp.

bool GripperEnvironment::checkForHighForceUserCmd	(	std::map< std::string, GripperEnvInfo >::iterator &	gripIt,
		int &	attachType
	)		`[private]`

Definition at line 273 of file GripperEnvironment.cpp.

bool GripperEnvironment::checkForMovement ( const std::map< std::string, GripperEnvInfo >::iterator & gripIt ) [private]

Check if pose command changed

Definition at line 309 of file GripperEnvironment.cpp.

bool GripperEnvironment::checkGoalStatus	(	const std::string &	gripper,
		int &	attachType
	)		`[private]`

Definition at line 288 of file GripperEnvironment.cpp.

void GripperEnvironment::createGripperEnvironmentMsg ( r2_msgs::GripperEnvironment & gripEnv )

create messages from data

Definition at line 133 of file GripperEnvironment.cpp.

int GripperEnvironment::findAttachType ( const std::string & input ) [private]

Definition at line 355 of file GripperEnvironment.cpp.

std::string GripperEnvironment::getBaseFrame ( )

Definition at line 47 of file GripperEnvironment.cpp.

int GripperEnvironment::getGoalStatusArraySize ( )

Definition at line 57 of file GripperEnvironment.cpp.

bool GripperEnvironment::getMapEntry	(	const std::string &	name,
		GripperEnvInfo &	info
	)

for unit testing

Definition at line 36 of file GripperEnvironment.cpp.

void GripperEnvironment::initializeMap ( const std::vector< std::string > & grippers )

intitialize

Definition at line 11 of file GripperEnvironment.cpp.

bool GripperEnvironment::isBaseFrame ( const std::map< std::string, GripperEnvInfo >::iterator & gripIt ) [private]

Definition at line 342 of file GripperEnvironment.cpp.

bool GripperEnvironment::isGripperLocked ( const std::map< std::string, GripperEnvInfo >::iterator & gripIt ) [private]

Definition at line 337 of file GripperEnvironment.cpp.

void GripperEnvironment::populateBaseFrameInfo ( const r2_msgs::StringArray & baseFrames )

Definition at line 85 of file GripperEnvironment.cpp.

void GripperEnvironment::populateGoalStatus ( const actionlib_msgs::GoalStatusArray & goalStats )

Definition at line 115 of file GripperEnvironment.cpp.

void GripperEnvironment::populateGripperStateInfo ( const r2_msgs::GripperPositionState & eefState )

put data into maps

Definition at line 70 of file GripperEnvironment.cpp.

void GripperEnvironment::populatePoseStateInfo ( const r2_msgs::PoseState & poseCmd )

Definition at line 90 of file GripperEnvironment.cpp.

void GripperEnvironment::setComponentNames	(	const std::string &	handrail,
		const std::string &	seatTrack
	)

Definition at line 30 of file GripperEnvironment.cpp.

void GripperEnvironment::setUserCommand	(	const std::string	gripperName,
		const int &	cmd
	)

Definition at line 62 of file GripperEnvironment.cpp.

void GripperEnvironment::transToFreespace ( std::map< std::string, GripperEnvInfo >::iterator & gripIt ) [private]

Definition at line 239 of file GripperEnvironment.cpp.

void GripperEnvironment::transToHighForce	(	const int &	attachType,
		std::map< std::string, GripperEnvInfo >::iterator &	gripIt
	)		`[private]`

Definition at line 216 of file GripperEnvironment.cpp.

void GripperEnvironment::update ( )

do the work

gripper not locked yet

gripper should be locked

Definition at line 147 of file GripperEnvironment.cpp.

Member Data Documentation

std::string GripperEnvironment::baseFrame [private]

Definition at line 58 of file GripperEnvironment.h.

std::vector<std::string> GripperEnvironment::baseFrameList [private]

Definition at line 61 of file GripperEnvironment.h.

std::map<std::string, GripperEnvInfo>::iterator GripperEnvironment::envIt [private]

Definition at line 59 of file GripperEnvironment.h.

KDL::Twist GripperEnvironment::frameDiff [private]

Definition at line 66 of file GripperEnvironment.h.

actionlib_msgs::GoalStatusArray GripperEnvironment::goalStatuses [private]

Definition at line 63 of file GripperEnvironment.h.

std::map<std::string, GripperEnvInfo> GripperEnvironment::gripperEnvMap [private]

Definition at line 62 of file GripperEnvironment.h.

std::string GripperEnvironment::handrailComponent [private]

Definition at line 58 of file GripperEnvironment.h.

std::string GripperEnvironment::name [private]

Definition at line 65 of file GripperEnvironment.h.

std::vector<std::string>::iterator GripperEnvironment::nameIt [private]

Definition at line 60 of file GripperEnvironment.h.

std::string GripperEnvironment::seatTrackComponent [private]

Definition at line 58 of file GripperEnvironment.h.

KDL::Frame GripperEnvironment::tempFrame [private]

Definition at line 64 of file GripperEnvironment.h.

int GripperEnvironment::type [private]

Definition at line 67 of file GripperEnvironment.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation