#include <sr_motor_hand_lib.hpp>

Inheritance diagram for shadow_robot::SrMotorHandLib< StatusType, CommandType >:

Public Member Functions
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< StatusType, CommandType >
void	add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)

void	build_command (CommandType *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 (StatusType *status_data)

Public Member Functions inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
void	build_tactile_command (CommandType *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 (StatusType *status)

virtual	~SrRobotLib ()

Protected Member Functions
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< StatusType, CommandType >
void	calibrate_joint (std::vector< shadow_joints::Joint >::iterator joint_tmp, StatusType *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, StatusType *status_data, double timestamp)

void	read_additional_data (std::vector< shadow_joints::Joint >::iterator joint_tmp, StatusType *status_data)

Protected Member Functions inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
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::JointToSensor >	read_joint_to_sensor_mapping ()

std::vector< generic_updater::UpdateConfig >	read_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)

Private Member Functions
std::vector< int >	read_joint_to_motor_mapping ()

void	resend_pids (std::string joint_name, int motor_index)

Private Attributes
std::map< std::string, ros::Timer >	pid_timers

Static Private Attributes
static const char *	human_readable_motor_data_types []

static const int32u	motor_data_types []

static const int	nb_motor_data = 14

Additional Inherited Members
Public Types inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
typedef std::map< std::string, CoupledJoint >	CoupledJointMapType

Public Attributes inherited from shadow_robot::SrMotorRobotLib< StatusType, CommandType >
operation_mode::device_update_state::DeviceUpdateState	motor_current_state

Public Attributes inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
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< StatusType, CommandType > >	tactiles

boost::shared_ptr< tactiles::GenericTactiles< StatusType, CommandType > >	tactiles_init

Static Public Attributes inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
static const double	tactile_timeout = 10.0
	Timeout handling variables for UBI sensors. More...

Protected Types inherited from shadow_robot::SrMotorRobotLib< StatusType, CommandType >
typedef std::pair< int, std::vector< crc_unions::union16 > >	ForceConfig

Protected Attributes inherited from shadow_robot::SrMotorRobotLib< StatusType, CommandType >
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::MotorDataChecker >	motor_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::UpdateConfig >	motor_update_rate_configs_vector

boost::shared_ptr< generic_updater::MotorUpdater< CommandType > >	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< StatusType, CommandType >
std::vector< generic_updater::UpdateConfig >	biotac_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::UpdateConfig >	generic_sensor_update_rate_configs_vector

std::string	joint_prefix_
	Prefix used to access the joints. More...

std::vector< shadow_joints::Joint >	joints_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::UpdateConfig >	pst3_sensor_update_rate_configs_vector

boost::shared_ptr< boost::thread >	self_test_thread_

std::vector< generic_updater::UpdateConfig >	ubi0_sensor_update_rate_configs_vector

Static Protected Attributes inherited from shadow_robot::SrRobotLib< StatusType, CommandType >
static const char *	human_readable_sensor_data_types []

static const int	nb_sensor_data = 37

static const int32u	sensor_data_types []

Detailed Description

template<class StatusType, class CommandType>
class shadow_robot::SrMotorHandLib< StatusType, CommandType >

Definition at line 44 of file sr_motor_hand_lib.hpp.

Constructor & Destructor Documentation

template<class StatusType, class CommandType>

shadow_robot::SrMotorHandLib< StatusType, CommandType >::SrMotorHandLib	(	hardware_interface::HardwareInterface *	hw,
		ros::NodeHandle	nh,
		ros::NodeHandle	nhtilde,
		std::string	device_id,
		std::string	joint_prefix
	)

Definition at line 96 of file sr_motor_hand_lib.cpp.

Member Function Documentation

template<class StatusType , class CommandType >

string shadow_robot::SrMotorHandLib< StatusType, CommandType >::find_joint_name ( int motor_index )

protected

Definition at line 433 of file sr_motor_hand_lib.cpp.

template<class StatusType , class CommandType >

bool shadow_robot::SrMotorHandLib< StatusType, CommandType >::force_pid_callback	(	sr_robot_msgs::ForceController::Request &	request,
		sr_robot_msgs::ForceController::Response &	response,
		int	motor_index
	)

Definition at line 309 of file sr_motor_hand_lib.cpp.

template<class StatusType, class CommandType>

void shadow_robot::SrMotorHandLib< StatusType, CommandType >::initialize	(	std::vector< std::string >	joint_names,
		std::vector< int >	actuator_ids,
		std::vector< shadow_joints::JointToSensor >	joint_to_sensors
	)

protectedvirtual

Implements shadow_robot::SrMotorRobotLib< StatusType, CommandType >.

Definition at line 130 of file sr_motor_hand_lib.cpp.

template<class StatusType , class CommandType >

vector< int > shadow_robot::SrMotorHandLib< StatusType, CommandType >::read_joint_to_motor_mapping ( )

private

Definition at line 497 of file sr_motor_hand_lib.cpp.

template<class StatusType, class CommandType>

void shadow_robot::SrMotorHandLib< StatusType, CommandType >::resend_pids	(	std::string	joint_name,
		int	motor_index
	)

private

Definition at line 222 of file sr_motor_hand_lib.cpp.

template<class StatusType, class CommandType>

bool shadow_robot::SrMotorHandLib< StatusType, CommandType >::reset_motor_callback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response,
		std::pair< int, std::string >	joint
	)

Definition at line 202 of file sr_motor_hand_lib.cpp.

template<class StatusType, class CommandType>

void shadow_robot::SrMotorHandLib< StatusType, CommandType >::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

Definition at line 449 of file sr_motor_hand_lib.cpp.

Member Data Documentation

template<class StatusType, class CommandType>

const char * shadow_robot::SrMotorHandLib< StatusType, CommandType >::human_readable_motor_data_types

staticprivate

Initial value:

=
          {
            "sgl", "sgr",
            "pwm", "flags",
            "current",
            "voltage",
            "temperature",
            "can_num_received",
            "can_num_transmitted",
            "slow_data",
            "can_error_counters",
            "pterm",
            "iterm",
            "dterm"
          }

Definition at line 144 of file sr_motor_hand_lib.hpp.

template<class StatusType, class CommandType>

const int32u shadow_robot::SrMotorHandLib< StatusType, CommandType >::motor_data_types

staticprivate

Initial value:

=
  {
    MOTOR_DATA_SGL,
    MOTOR_DATA_SGR,
    MOTOR_DATA_PWM,
    MOTOR_DATA_FLAGS,
    MOTOR_DATA_CURRENT,
    MOTOR_DATA_VOLTAGE,
    MOTOR_DATA_TEMPERATURE,
    MOTOR_DATA_CAN_NUM_RECEIVED,
    MOTOR_DATA_CAN_NUM_TRANSMITTED,
    MOTOR_DATA_SLOW_MISC,
    MOTOR_DATA_CAN_ERROR_COUNTERS,
    MOTOR_DATA_PTERM,
    MOTOR_DATA_ITERM,
    MOTOR_DATA_DTERM
  }

Definition at line 145 of file sr_motor_hand_lib.hpp.

template<class StatusType, class CommandType>

const int shadow_robot::SrMotorHandLib< StatusType, CommandType >::nb_motor_data = 14

staticprivate

Definition at line 143 of file sr_motor_hand_lib.hpp.

template<class StatusType, class CommandType>

std::map<std::string, ros::Timer> shadow_robot::SrMotorHandLib< StatusType, CommandType >::pid_timers

private

Definition at line 160 of file sr_motor_hand_lib.hpp.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

template<class StatusType, class CommandType> class shadow_robot::SrMotorHandLib< StatusType, CommandType >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class StatusType, class CommandType>
class shadow_robot::SrMotorHandLib< StatusType, CommandType >