Public Member Functions | List of all members
HandLibTestProtected Class Reference
Inheritance diagram for HandLibTestProtected:
Inheritance graph
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Public Member Functions

 HandLibTestProtected (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh)
 
- Public Member Functions inherited from shadow_robot::SrMotorHandLib< STATUS_TYPE, COMMAND_TYPE >
bool force_pid_callback (sr_robot_msgs::ForceController::Request &request, sr_robot_msgs::ForceController::Response &response, int motor_index)
 
bool reset_motor_callback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response, std::pair< int, std::string > joint)
 
 SrMotorHandLib (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh, ros::NodeHandle nhtilde, std::string device_id, std::string joint_prefix)
 
- Public Member Functions inherited from shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >
void add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)
 
void build_command (COMMAND_TYPE *command)
 
void reinitialize_motors ()
 
 SrMotorRobotLib (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh, ros::NodeHandle nhtilde, std::string device_id, std::string joint_prefix)
 
void update (STATUS_TYPE *status_data)
 
- Public Member Functions inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
void build_tactile_command (COMMAND_TYPE *command)
 
bool nullify_demand_callback (sr_robot_msgs::NullifyDemand::Request &request, sr_robot_msgs::NullifyDemand::Response &response)
 
void reinitialize_sensors ()
 
 SrRobotLib (hardware_interface::HardwareInterface *hw, ros::NodeHandle nh, ros::NodeHandle nhtilde, std::string device_id, std::string joint_prefix)
 
void update_tactile_info (STATUS_TYPE *status)
 
virtual ~SrRobotLib ()
 

Additional Inherited Members

- Public Types inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
typedef std::map< std::string, CoupledJointCoupledJointMapType
 
- Public Attributes inherited from shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >
operation_mode::device_update_state::DeviceUpdateState motor_current_state
 
- Public Attributes inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
shadow_joints::CalibrationMap calibration_map
 The map used to calibrate each joint. More...
 
CoupledJointMapType coupled_calibration_map
 
ros_ethercat_model::RobotState * hw_
 
boost::shared_ptr< boost::mutex > lock_tactile_init_timeout_
 A mutual exclusion object to ensure that the intitialization timeout event does work without threading issues. More...
 
int main_pic_idle_time
 
int main_pic_idle_time_min
 
ros::Timer tactile_check_init_timeout_timer
 
operation_mode::device_update_state::DeviceUpdateState tactile_current_state
 
ros::Duration tactile_init_max_duration
 
boost::shared_ptr< tactiles::GenericTactiles< STATUS_TYPE, COMMAND_TYPE > > tactiles
 
boost::shared_ptr< tactiles::GenericTactiles< STATUS_TYPE, COMMAND_TYPE > > tactiles_init
 
- Static Public Attributes inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
static const double tactile_timeout
 Timeout handling variables for UBI sensors. More...
 
- Protected Types inherited from shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >
typedef std::pair< int, std::vector< crc_unions::union16 > > ForceConfig
 
- Protected Member Functions inherited from shadow_robot::SrMotorHandLib< STATUS_TYPE, COMMAND_TYPE >
std::string find_joint_name (int motor_index)
 
virtual void initialize (std::vector< std::string > joint_names, std::vector< int > actuator_ids, std::vector< shadow_joints::JointToSensor > joint_to_sensors)
 
void update_force_control_in_param_server (std::string joint_name, int max_pwm, int sg_left, int sg_right, int f, int p, int i, int d, int imax, int deadband, int sign, int torque_limit, int torque_limiter_gain)
 
- Protected Member Functions inherited from shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >
void calibrate_joint (std::vector< shadow_joints::Joint >::iterator joint_tmp, STATUS_TYPE *status_data)
 
bool change_control_parameters (int16_t control_type)
 
bool change_control_type_callback_ (sr_robot_msgs::ChangeControlType::Request &request, sr_robot_msgs::ChangeControlType::Response &response)
 
bool check_if_joint_coupled (string joint_name)
 
int find_joint_by_name (string joint_name)
 
void generate_force_control_config (int motor_index, int max_pwm, int sg_left, int sg_right, int f, int p, int i, int d, int imax, int deadband, int sign, int torque_limit, int torque_limiter_gain)
 
sr_actuator::SrMotorActuator * get_joint_actuator (std::vector< shadow_joints::Joint >::iterator joint_tmp)
 
std::vector< std::pair< std::string, bool > > humanize_flags (int flag)
 
bool motor_system_controls_callback_ (sr_robot_msgs::ChangeMotorSystemControls::Request &request, sr_robot_msgs::ChangeMotorSystemControls::Response &response)
 
void process_position_sensor_data (std::vector< shadow_joints::Joint >::iterator joint_tmp, STATUS_TYPE *status_data, double timestamp)
 
void read_additional_data (std::vector< shadow_joints::Joint >::iterator joint_tmp, STATUS_TYPE *status_data)
 
- Protected Member Functions inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
void checkSelfTests ()
 It is run in a separate thread and calls the checkTests() method of the self_tests_. More...
 
CoupledJointMapType read_coupled_joint_calibration ()
 
shadow_joints::CalibrationMap read_joint_calibration ()
 
std::vector< shadow_joints::JointToSensorread_joint_to_sensor_mapping ()
 
std::vector< generic_updater::UpdateConfigread_update_rate_configs (std::string base_param, int nb_data_defined, const char *human_readable_data_types[], const int32u data_types[])
 
void tactile_init_timer_callback (const ros::TimerEvent &event)
 
- Protected Attributes inherited from shadow_robot::SrMotorRobotLib< STATUS_TYPE, COMMAND_TYPE >
ros::ServiceServer change_control_type_
 
int config_index
 
sr_robot_msgs::ControlType control_type_
 
bool control_type_changed_flag_
 
int8u crc_byte
 
int8u crc_i
 
int16u crc_result
 
int index_motor_in_msg
 
boost::shared_ptr< boost::mutex > lock_command_sending_
 
boost::shared_ptr< generic_updater::MotorDataCheckermotor_data_checker
 
int motor_index_full
 
std::queue< std::vector< sr_robot_msgs::MotorSystemControls >, std::list< std::vector< sr_robot_msgs::MotorSystemControls > > > motor_system_control_flags_
 
ros::ServiceServer motor_system_control_server_
 
std::vector< generic_updater::UpdateConfigmotor_update_rate_configs_vector
 
boost::shared_ptr< generic_updater::MotorUpdater< COMMAND_TYPE > > motor_updater_
 
std::queue< ForceConfig, std::list< ForceConfig > > reconfig_queue
 
std::queue< int16_t, std::list< int16_t > > reset_motors_queue
 
- Protected Attributes inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
std::vector< generic_updater::UpdateConfigbiotac_sensor_update_rate_configs_vector
 
boost::shared_ptr< shadow_robot::JointCalibration > calibration_tmp
 A temporary calibration for a given joint. More...
 
std::string device_id_
 Id of the ethercat device (alias) More...
 
std::vector< generic_updater::UpdateConfiggeneric_sensor_update_rate_configs_vector
 
std::string joint_prefix_
 Prefix used to access the joints. More...
 
std::vector< shadow_joints::Jointjoints_vector
 The vector containing all the robot joints. More...
 
ros::NodeHandle nh_tilde
 a ROS nodehandle (private naming, only inside the node namespace) to be able to advertise the Force PID service More...
 
ros::NodeHandle nodehandle_
 a ros nodehandle to be able to access resources out of the node namespace More...
 
bool nullify_demand_
 
ros::ServiceServer nullify_demand_server_
 
std::vector< generic_updater::UpdateConfigpst3_sensor_update_rate_configs_vector
 
boost::shared_ptr< boost::thread > self_test_thread_
 
std::vector< generic_updater::UpdateConfigubi0_sensor_update_rate_configs_vector
 
- Static Protected Attributes inherited from shadow_robot::SrRobotLib< STATUS_TYPE, COMMAND_TYPE >
static const char * human_readable_sensor_data_types []
 
static const int nb_sensor_data
 
static const int32u sensor_data_types []
 

Detailed Description

Definition at line 40 of file test_robot_lib.cpp.

Constructor & Destructor Documentation

HandLibTestProtected::HandLibTestProtected ( hardware_interface::HardwareInterface *  hw,
ros::NodeHandle  nh 
)
inline

Definition at line 44 of file test_robot_lib.cpp.


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


sr_robot_lib
Author(s): Ugo Cupcic, Toni Oliver
autogenerated on Tue Oct 13 2020 04:01:58