#include <JointControlManagerGripper.h>

Inheritance diagram for JointControlManagerGripper:

Public Member Functions
r2_msgs::JointControlData	getActualStates (void)
	Retrieve the actual states of the control mode.
r2_msgs::JointControlData	getCommandStates (void)
	Retrieve Command States of the commandFsm.
diagnostic_msgs::DiagnosticStatus	getFaults ()
	Build the string summarizing the current faults in this mechanism.
	JointControlManagerGripper (const std::string &, IoFunctions, double, const std::string &, NodeRegisterManagerPtr)
	Constructor for Gripper control manager.
void	setCommandStates (const r2_msgs::JointControlData &)
	Set the command state of "commandFsm" based on the specified command.
bool	verifyCalibrationModeState (void)
	verify the calibration mode state
bool	verifyClearFaultModeState (void)
	verify the clearFault mode state
bool	verifyCommandModeState (void)
	verify the command mode state
bool	verifyControlModeState (void)
	verify the control mode state
bool	verifyStates (void)
	verify that the actual state and command states are the same (control, command, calibration)
virtual	~JointControlManagerGripper ()
Protected Member Functions
void	setParameters ()
Protected Attributes
NodeRegisterManagerPtr	nodeRegisterManager
Private Attributes
const std::string	logCategory

Detailed Description

Definition at line 16 of file JointControlManagerGripper.h.

Constructor & Destructor Documentation

JointControlManagerGripper::JointControlManagerGripper	(	const std::string &	mechanism,
		IoFunctions	ioFunctions,
		double	timeLimit,
		const std::string &	type,
		NodeRegisterManagerPtr	nodeRegisterManager
	)

Constructor for Gripper control manager.

Parameters:

mechanism
ioFunctions
timeLimit
type
nodeRegisterManager

Definition at line 17 of file JointControlManagerGripper.cpp.

JointControlManagerGripper::~JointControlManagerGripper ( ) [virtual]

Definition at line 31 of file JointControlManagerGripper.cpp.

Member Function Documentation

r2_msgs::JointControlData JointControlManagerGripper::getActualStates ( void ) [virtual]

Retrieve the actual states of the control mode.

Returns:: The actual states of the control mode

handle automatic transition of clear fault mode based on acknowledge bit

Implements JointControlManagerInterface.

Definition at line 57 of file JointControlManagerGripper.cpp.

r2_msgs::JointControlData JointControlManagerGripper::getCommandStates ( void ) [virtual]

Retrieve Command States of the commandFsm.

Returns:: Command States

Implements JointControlManagerInterface.

Definition at line 84 of file JointControlManagerGripper.cpp.

diagnostic_msgs::DiagnosticStatus JointControlManagerGripper::getFaults ( ) [virtual]

Build the string summarizing the current faults in this mechanism.

Returns:: std::string A string summarizing the current faults in this mechanism

Implements JointControlManagerInterface.

Definition at line 509 of file JointControlManagerGripper.cpp.

void JointControlManagerGripper::setCommandStates ( const r2_msgs::JointControlData & command ) [virtual]

Set the command state of "commandFsm" based on the specified command.

Parameters:

command New command to set state to

Don't allow bootloader if motor power is on

Don't allow bootloader unless actual is faulted, bootloader, or off Allowing OFF -> BOOTLOADER for #RDEV-1239

Don't allow off if motor power is on

Don't allow off unless actual is faulted, bootloader, or off

Don't allow park if power is off

Don't allow park unless actual is faulted, off, park, neutral, or drive

Don't allow neutral if power is off

Don't allow neutral unless actual is faulted, off, park, or neutral

Don't allow drive if motor power is not on and valid

Don't allow drive unless actual is poark, neutral, or drive

Implements JointControlManagerInterface.

Definition at line 97 of file JointControlManagerGripper.cpp.

void JointControlManagerGripper::setParameters ( ) [protected]

initialize states;

Definition at line 36 of file JointControlManagerGripper.cpp.

bool JointControlManagerGripper::verifyCalibrationModeState ( void ) [virtual]

verify the calibration mode state

Returns:: True if calibration mode states match

Implements JointControlManagerInterface.

Definition at line 449 of file JointControlManagerGripper.cpp.

bool JointControlManagerGripper::verifyClearFaultModeState ( void ) [virtual]

verify the clearFault mode state

Returns:: True if clearFault mode states match

Implements JointControlManagerInterface.

Definition at line 476 of file JointControlManagerGripper.cpp.

bool JointControlManagerGripper::verifyCommandModeState ( void ) [virtual]

verify the command mode state

Returns:: True if command mode states match

Implements JointControlManagerInterface.

Definition at line 422 of file JointControlManagerGripper.cpp.

bool JointControlManagerGripper::verifyControlModeState ( void ) [virtual]

verify the control mode state

Returns:: True if control mode states matchactualStatesLocal

Implements JointControlManagerInterface.

Definition at line 384 of file JointControlManagerGripper.cpp.

bool JointControlManagerGripper::verifyStates ( void ) [virtual]

verify that the actual state and command states are the same (control, command, calibration)

Returns:: Boolean value of verification

Implements JointControlManagerInterface.

Definition at line 372 of file JointControlManagerGripper.cpp.

Member Data Documentation

const std::string JointControlManagerGripper::logCategory [private]

Definition at line 37 of file JointControlManagerGripper.h.

NodeRegisterManagerPtr JointControlManagerGripper::nodeRegisterManager [protected]

Definition at line 33 of file JointControlManagerGripper.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation