shadowrobot::RealArm Class Reference

#include <real_arm.h>

Inheritance diagram for shadowrobot::RealArm:

Public Member Functions
virtual JointsMap	getAllJointsData ()
virtual void	getConfig (std::string joint_name)
virtual JointControllerData	getContrl (std::string ctrlr_name)
virtual std::vector< DiagnosticData >	getDiagnostics ()
virtual JointData	getJointData (std::string joint_name)
	RealArm ()
virtual int16_t	sendupdate (std::string joint_name, double target)
virtual int16_t	setConfig (std::vector< std::string > myConfig)
virtual int16_t	setContrl (std::string contrlr_name, JointControllerData ctrlr_data)
virtual	~RealArm ()
Public Member Functions inherited from shadowrobot::SRArticulatedRobot
	SRArticulatedRobot ()
virtual	~SRArticulatedRobot ()

Protected Member Functions
void	initializeMap ()

Additional Inherited Members
Public Types inherited from shadowrobot::SRArticulatedRobot
typedef std::map< std::string, JointData >	JointsMap
typedef std::map< std::string, enum controller_parameters >	ParametersMap
Public Attributes inherited from shadowrobot::SRArticulatedRobot
boost::mutex	controllers_map_mutex
JointsMap	joints_map
	A mapping between the joint names and the information regarding those joints. More...
boost::mutex	joints_map_mutex
ParametersMap	parameters_map
	A mapping between the parameter names and their values. More...
boost::mutex	parameters_map_mutex
Protected Attributes inherited from shadowrobot::SRArticulatedRobot
boost::shared_ptr< self_test::TestRunner >	self_test
	this is the handle for the self tests. More...

Detailed Description

Definition at line 38 of file real_arm.h.

Constructor & Destructor Documentation

shadowrobot::RealArm::RealArm

(

)

Initializes the necessary mappings with a static list of names.

Definition at line 39 of file real_arm.cpp.

shadowrobot::RealArm::~RealArm ( )

virtual

Definition at line 60 of file real_arm.cpp.

Member Function Documentation

SRArticulatedRobot::JointsMap shadowrobot::RealArm::getAllJointsData ( )

virtual

Get the data for all the joints.

Returns

a mapping between the joints names and the information for each joint.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 158 of file real_arm.cpp.

void shadowrobot::RealArm::getConfig ( std::string  joint_name )

virtual

Get the config of the palm

Todo:

Not implemented yet

Parameters

joint_name

Implements shadowrobot::SRArticulatedRobot.

Definition at line 191 of file real_arm.cpp.

JointControllerData shadowrobot::RealArm::getContrl ( std::string  contrlr_name )

virtual

Get the controller parameters for a given controller name.

Parameters

contrlr_name

the name of the controller.

Returns

The parameters of this controller

Implements shadowrobot::SRArticulatedRobot.

Definition at line 178 of file real_arm.cpp.

std::vector< DiagnosticData > shadowrobot::RealArm::getDiagnostics ( )

virtual

Get diagnostic information from the robot.

Returns

A vector containing all the diagnostics for the hand (motor information, etc...)

Implements shadowrobot::SRArticulatedRobot.

Definition at line 196 of file real_arm.cpp.

JointData shadowrobot::RealArm::getJointData ( std::string  joint_name )

virtual

Reads the data from the robot.

Parameters

joint_name

The name of the joint, as specified in joints_map.

Returns

The information regarding this joint.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 123 of file real_arm.cpp.

void shadowrobot::RealArm::initializeMap ( )

protected

Initialise a mapping for the joints.

Definition at line 64 of file real_arm.cpp.

int16_t shadowrobot::RealArm::sendupdate ( std::string  joint_name, double  target  )

virtual

This function will set the target of the object to the given angle and send it to the robot.

Parameters

joint_name	The Joint in joints_map you wish to send the target to.
target	The target in degree

Returns

0 if success ; -1 if error

Implements shadowrobot::SRArticulatedRobot.

Definition at line 89 of file real_arm.cpp.

int16_t shadowrobot::RealArm::setConfig ( std::vector< std::string >  myConfig )

virtual

Set the config of the palm

Todo:

Not implemented yet

Parameters

myConfig

Returns

Implements shadowrobot::SRArticulatedRobot.

Definition at line 185 of file real_arm.cpp.

int16_t shadowrobot::RealArm::setContrl ( std::string  contrlr_name, JointControllerData  ctrlr_data  )

virtual

Set the controller parameters for a given controller name.

Parameters

contrlr_name	The name of the controller to setup.
ctrlr_data	The data to pass to this controller.

Returns

0 if success.

Implements shadowrobot::SRArticulatedRobot.

Definition at line 172 of file real_arm.cpp.

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

• real_arm.h
• real_arm.cpp