#include <movement_publisher.hpp>

Public Member Functions
void	add_movement (PartialMovement mvt)
void	calculateErrorCallback (const control_msgs::JointControllerState::ConstPtr &msg)
void	execute_step (int index_mvt_step, int index_partial_movement)
std::string	get_subscriber_topic ()
	MovementPublisher (std::string joint_name, double rate=100.0, unsigned int repetition=1, unsigned int nb_mvt_step=1000, std::string controller_type="", bool testing=false, HandCommander *hand_commander=NULL)
	MovementPublisher (double min_value=0.0, double max_value=1.5, double rate=100.0, unsigned int repetition=1, unsigned int nb_mvt_step=1000, std::string controller_type="")
void	set_publisher (ros::Publisher publisher)
void	set_subscriber (ros::Subscriber subscriber)
void	sr_calculateErrorCallback (const sr_robot_msgs::JointControllerState::ConstPtr &msg)
void	start ()
void	stop ()
virtual	~MovementPublisher ()
Protected Member Functions
void	publish_ ()
void	subscribe_and_default_pub_ (std::string input)
Protected Attributes
std::string	controller_type
boost::shared_ptr< HandCommander >	hand_commander_
std::string	joint_name_
std::vector< sr_robot_msgs::joint >	joint_vector_
double	last_target_
double	max
double	min
double	MSError_
std_msgs::Float64	msg
unsigned int	n_samples_
unsigned int	nb_mvt_step
ros::NodeHandle	nh_tilde
std::vector< PartialMovement >	partial_movements
ros::Publisher	pub
ros::Publisher	pub_mse_
ros::Rate	publishing_rate
unsigned int	repetition
double	SError_
ros::Subscriber	sub_

Detailed Description

Definition at line 42 of file movement_publisher.hpp.

Constructor & Destructor Documentation

shadowrobot::MovementPublisher::MovementPublisher	(	std::string	joint_name,
		double	rate = `100.0`,
		unsigned int	repetition = `1`,
		unsigned int	nb_mvt_step = `1000`,
		std::string	controller_type = `""`,
		bool	testing = `false`,
		HandCommander *	hand_commander = `NULL`
	)

This is the constructor used when providing a joint name. It automatically extracts the min and max + subscriber / publishers from the HandCommander.

Parameters:

joint_name	the name of the joint we want to move.
rate	rate at which the targets should be published.
repetition	number of times the movement should be repeated
nb_mvt_step	number of steps we take in the image
controller_type	the type of controller ("sr" or "ros")
testing	set to true when running a gazebo test (just adds a long sleep).
hand_commander	helper for controlling the shadow hand

Definition at line 33 of file movement_publisher.cpp.

shadowrobot::MovementPublisher::MovementPublisher	(	double	min_value = `0.0`,
		double	max_value = `1.5`,
		double	rate = `100.0`,
		unsigned int	repetition = `1`,
		unsigned int	nb_mvt_step = `1000`,
		std::string	controller_type = `""`
	)

Definition at line 64 of file movement_publisher.cpp.

shadowrobot::MovementPublisher::~MovementPublisher ( ) [virtual]

Definition at line 92 of file movement_publisher.cpp.

Member Function Documentation

void shadowrobot::MovementPublisher::add_movement ( PartialMovement mvt )

Definition at line 209 of file movement_publisher.cpp.

void shadowrobot::MovementPublisher::calculateErrorCallback ( const control_msgs::JointControllerState::ConstPtr & msg )

Used to listen to a control_msgs::JointControllerState and calculate the mean square error of every movement repetition

Parameters:

msg	the current state of the controller.

Definition at line 157 of file movement_publisher.cpp.

void shadowrobot::MovementPublisher::execute_step	(	int	index_mvt_step,
		int	index_partial_movement
	)

Allows the user to control the movement step by step.

Definition at line 169 of file movement_publisher.cpp.

std::string shadowrobot::MovementPublisher::get_subscriber_topic ( )

Definition at line 224 of file movement_publisher.cpp.

void shadowrobot::MovementPublisher::publish_ ( ) [protected]

Publishes the message, using either the HandCommander (recommended) or the previous approach, using directly a remapped publisher.

Definition at line 191 of file movement_publisher.cpp.

void shadowrobot::MovementPublisher::set_publisher ( ros::Publisher publisher )

Definition at line 214 of file movement_publisher.cpp.

void shadowrobot::MovementPublisher::set_subscriber ( ros::Subscriber subscriber )

Definition at line 219 of file movement_publisher.cpp.

void shadowrobot::MovementPublisher::sr_calculateErrorCallback ( const sr_robot_msgs::JointControllerState::ConstPtr & msg )

Used to listen to a sr_robot_msgs::JointControllerState and calculate the mean square error of every movement repetition

Parameters:

msg	the current state of the controller.

Definition at line 145 of file movement_publisher.cpp.

void shadowrobot::MovementPublisher::start ( void )

Definition at line 95 of file movement_publisher.cpp.

void shadowrobot::MovementPublisher::stop ( void )

Definition at line 206 of file movement_publisher.cpp.

void shadowrobot::MovementPublisher::subscribe_and_default_pub_ ( std::string input ) [protected]

Subscribes with the correct type (based on controller_type_) to the given topic. Also initialises the MSE publisher.

Parameters:

input Topic to which we're subscribing.

Definition at line 76 of file movement_publisher.cpp.

Member Data Documentation

std::string shadowrobot::MovementPublisher::controller_type [protected]

Definition at line 139 of file movement_publisher.hpp.

boost::shared_ptr<HandCommander> shadowrobot::MovementPublisher::hand_commander_ [protected]

Definition at line 118 of file movement_publisher.hpp.

std::string shadowrobot::MovementPublisher::joint_name_ [protected]

Definition at line 119 of file movement_publisher.hpp.

std::vector<sr_robot_msgs::joint> shadowrobot::MovementPublisher::joint_vector_ [protected]

Definition at line 132 of file movement_publisher.hpp.

double shadowrobot::MovementPublisher::last_target_ [protected]

Definition at line 133 of file movement_publisher.hpp.

double shadowrobot::MovementPublisher::max [protected]

Definition at line 129 of file movement_publisher.hpp.

double shadowrobot::MovementPublisher::min [protected]

Definition at line 129 of file movement_publisher.hpp.

double shadowrobot::MovementPublisher::MSError_ [protected]

Definition at line 137 of file movement_publisher.hpp.

std_msgs::Float64 shadowrobot::MovementPublisher::msg [protected]

Definition at line 131 of file movement_publisher.hpp.

unsigned int shadowrobot::MovementPublisher::n_samples_ [protected]

Definition at line 138 of file movement_publisher.hpp.

unsigned int shadowrobot::MovementPublisher::nb_mvt_step [protected]

Definition at line 135 of file movement_publisher.hpp.

ros::NodeHandle shadowrobot::MovementPublisher::nh_tilde [protected]

Definition at line 122 of file movement_publisher.hpp.

std::vector<PartialMovement> shadowrobot::MovementPublisher::partial_movements [protected]

Definition at line 121 of file movement_publisher.hpp.

ros::Publisher shadowrobot::MovementPublisher::pub [protected]

Definition at line 123 of file movement_publisher.hpp.

ros::Publisher shadowrobot::MovementPublisher::pub_mse_ [protected]

Definition at line 124 of file movement_publisher.hpp.

ros::Rate shadowrobot::MovementPublisher::publishing_rate [protected]

Definition at line 127 of file movement_publisher.hpp.

unsigned int shadowrobot::MovementPublisher::repetition [protected]

Definition at line 128 of file movement_publisher.hpp.

double shadowrobot::MovementPublisher::SError_ [protected]

Definition at line 136 of file movement_publisher.hpp.

ros::Subscriber shadowrobot::MovementPublisher::sub_ [protected]

Definition at line 125 of file movement_publisher.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation