This class provides the joint command interface for the wrist. More...

#include <JointCommandWrist.h>

Inheritance diagram for JointCommandWrist:

Public Member Functions
r2_msgs::JointCapability	getCapability ()
r2_msgs::JointCommand	getCommandedState ()
sensor_msgs::JointState	getCompleteMeasuredState ()
sensor_msgs::JointState	getSimpleMeasuredState ()
	JointCommandWrist (const std::string &mechanism, IoFunctions ioFunctions)
void	loadCoeffs ()
void	setCommand (r2_msgs::JointCommand msg, r2_msgs::JointControlData control)
void	setFaultState ()
void	updateMeasuredState (r2_msgs::JointControlData msg)
virtual	~JointCommandWrist ()
Protected Attributes
Eigen::Vector2d	ang
std::string	angleRosJointName
Eigen::Vector2d	angVel
double	busVoltage
bool	calCalled
bool	calFailureReported
r2_msgs::JointControlCalibrationMode	calibrationState
unsigned int	completeMessageSize
Eigen::Vector2d	desiredAngle
std::string	desiredMotComLittleCommandElement
std::string	desiredMotComThumbCommandElement
double	desiredPitch
double	desiredPitchVel
double	desiredQ1
double	desiredQ2
Eigen::Vector2d	desiredSlider
double	desiredYaw
double	desiredYawVel
Eigen::Vector2d	encoder
std::string	encoderLittlePositionStatusElement
std::string	encoderRosJointName
std::string	encoderThumbPositionStatusElement
Eigen::Vector2d	encoderVel
Eigen::Vector2d	filteredHalls
Eigen::Vector2d	filteredSlider
bool	fwdKinFault
bool	hallFilterInitialized
Eigen::Vector2d	halls
std::string	hallsPitchStatusElement
std::string	hallsRosJointName
Eigen::Vector2d	hallsVel
std::string	hallsYawStatusElement
std::vector< HallsToAngle >	hta
Eigen::Vector2d	manualCalAng
Eigen::Vector2d	manualCalSliderPos
double	maxSensorErrorFault
double	maxSliderDiff
double	maxSliderDiffFault
std::string	motorRosJointName
std::string	nameCalibrationMode
std::string	nameCoeffState
std::string	nameLittlesideSliderLimit
std::string	nameManualCalLittleSlider
std::string	nameManualCalPitch
std::string	nameManualCalThumbSlider
std::string	nameManualCalYaw
std::string	namePitchCalcValue
std::string	namePitchHallsValue
std::string	namePitchLimit
std::string	namePitchMaxValue
std::string	namePitchMinValue
std::string	nameSensorError
std::string	nameSliderDiffError
std::string	nameThumbsideSliderLimit
std::string	nameUseHalls
std::string	nameYawCalcValue
std::string	nameYawHallsValue
std::string	nameYawLimit
std::string	nameYawMaxValue
std::string	nameYawMinValue
double	positionAlpha
std::vector< double >	positionVals
bool	prevPosInitialized
std::vector< double >	prevPositionVals
std::auto_ptr < MultiLoopController >	q1Controller
std::auto_ptr < MultiLoopController >	q2Controller
bool	sliderFilterInitialized
double	sliderMaxPosition
double	sliderMaxPositionFault
double	sliderMinPosition
double	sliderMinPositionFault
std::string	sliderRosJointName
Eigen::Vector2d	sliderVel
Eigen::Vector2d	sliderVelCommand
double	smoothedPitch
double	smoothedYaw
std::auto_ptr< EmbeddedSmoother >	smootherPitch
std::auto_ptr< EmbeddedSmoother >	smootherYaw
std::vector< std::string > ::iterator	strVecIt
double	timestep
bool	useHalls
std::vector< double >	velocityVals
std::auto_ptr< WristMechanism >	wrist
std::auto_ptr< WristMechanism >	wristFault