Public Types | Public Member Functions | Private Member Functions | Private Attributes | List of all members
ROSEE::UniversalRosEndEffectorExecutor Class Reference

Class representing the ROS executor implementing the unviversal ROS EE concept. More...

#include <UniversalRosEndEffectorExecutor.h>

Public Types

typedef std::shared_ptr< const UniversalRosEndEffectorExecutor > ConstPtr
 
typedef std::shared_ptr< UniversalRosEndEffectorExecutor > Ptr
 

Public Member Functions

void spin ()
 
void timer_callback (const ros::TimerEvent &timer_ev)
 
 UniversalRosEndEffectorExecutor (std::string ns="")
 
virtual ~UniversalRosEndEffectorExecutor ()
 

Private Member Functions

bool init_grasping_primitive ()
 
void init_joint_state_sub ()
 
bool init_motor_reference_pub ()
 
bool init_qref_filter ()
 
void joint_state_clbk (const sensor_msgs::JointStateConstPtr &msg)
 
bool publish_motor_reference ()
 
bool readOptionalCommands (std::vector< std::string > motors_names, std::vector< double > motors_commands)
 
double sendFeedbackGoal (std::string currentAction="")
 
bool update_send_timed ()
 
bool updateGoal ()
 
bool updateRefGoal (double percentage=1.0)
 

Private Attributes

ROSEE::EEInterface::Ptr _ee
 
ROSEE::Utils::SecondOrderFilter< Eigen::VectorXd > _filt_q
 
std::map< std::set< std::string >, ROSEE::ActionPrimitive::Ptr > _fingFlexParsedMap
 
std::shared_ptr< ROSEE::ActionGeneric > _graspParsed
 
ROSEE::JointPos _joint_actual_pos
 
ros::Subscriber _joint_state_sub
 
ros::Timer _loop_timer
 
ROSEE::JointsInvolvedCount _motor_involved_mask
 
ROSEE::JointPos _motor_position_goal
 
ros::Publisher _motor_reference_pub
 
std::vector< std::string > _motors_names
 
int _motors_num = 0
 
sensor_msgs::JointState _mr_msg
 
ros::NodeHandle _nh
 
double _period
 
std::map< std::set< std::string >, ROSEE::ActionPrimitive::Ptr > _pinchLooseParsedMap
 
std::map< std::set< std::string >, ROSEE::ActionPrimitive::Ptr > _pinchParsedMap
 
Eigen::VectorXd _qref
 
Eigen::VectorXd _qref_filtered
 
Eigen::VectorXd _qref_optional
 
double _rate
 
std::shared_ptr< RosActionServer > _ros_action_server
 
std::shared_ptr< RosServiceHandler > _ros_service_handler
 
int _seq_id = 0
 
double _time
 
std::map< std::set< std::string >, ROSEE::ActionPrimitive::Ptr > _tipFlexParsedMap
 
std::map< std::set< std::string >, ROSEE::ActionPrimitive::Ptr > _trigParsedMap
 
std::string folderForActions
 
MapActionHandler::Ptr mapActionHandlerPtr
 
double msToWait
 
double normGoalFromInitialPos
 
unsigned int timed_index
 
bool timed_requested
 
std::shared_ptr< ROSEE::ActionTimed > timedAction
 
ROSEE::Utils::Timer timer
 

Detailed Description

Class representing the ROS executor implementing the unviversal ROS EE concept.

Definition at line 48 of file UniversalRosEndEffectorExecutor.h.

Member Typedef Documentation

◆ ConstPtr

typedef std::shared_ptr<const UniversalRosEndEffectorExecutor> ROSEE::UniversalRosEndEffectorExecutor::ConstPtr

Definition at line 54 of file UniversalRosEndEffectorExecutor.h.

◆ Ptr

typedef std::shared_ptr<UniversalRosEndEffectorExecutor> ROSEE::UniversalRosEndEffectorExecutor::Ptr

Definition at line 53 of file UniversalRosEndEffectorExecutor.h.

Constructor & Destructor Documentation

◆ UniversalRosEndEffectorExecutor()

ROSEE::UniversalRosEndEffectorExecutor::UniversalRosEndEffectorExecutor ( std::string  ns = "")

Definition at line 21 of file UniversalRosEndEffectorExecutor.cpp.

◆ ~UniversalRosEndEffectorExecutor()

ROSEE::UniversalRosEndEffectorExecutor::~UniversalRosEndEffectorExecutor ( )
virtual

Definition at line 510 of file UniversalRosEndEffectorExecutor.cpp.

Member Function Documentation

◆ init_grasping_primitive()

bool ROSEE::UniversalRosEndEffectorExecutor::init_grasping_primitive ( )
private

Definition at line 115 of file UniversalRosEndEffectorExecutor.cpp.

◆ init_joint_state_sub()

void ROSEE::UniversalRosEndEffectorExecutor::init_joint_state_sub ( )
private

Definition at line 169 of file UniversalRosEndEffectorExecutor.cpp.

◆ init_motor_reference_pub()

bool ROSEE::UniversalRosEndEffectorExecutor::init_motor_reference_pub ( )
private

Definition at line 72 of file UniversalRosEndEffectorExecutor.cpp.

◆ init_qref_filter()

bool ROSEE::UniversalRosEndEffectorExecutor::init_qref_filter ( )
private

Definition at line 91 of file UniversalRosEndEffectorExecutor.cpp.

◆ joint_state_clbk()

void ROSEE::UniversalRosEndEffectorExecutor::joint_state_clbk ( const sensor_msgs::JointStateConstPtr &  msg)
private

Definition at line 180 of file UniversalRosEndEffectorExecutor.cpp.

◆ publish_motor_reference()

bool ROSEE::UniversalRosEndEffectorExecutor::publish_motor_reference ( )
private

Definition at line 412 of file UniversalRosEndEffectorExecutor.cpp.

◆ readOptionalCommands()

bool ROSEE::UniversalRosEndEffectorExecutor::readOptionalCommands ( std::vector< std::string >  motors_names,
std::vector< double >  motors_commands 
)
private

Definition at line 292 of file UniversalRosEndEffectorExecutor.cpp.

◆ sendFeedbackGoal()

double ROSEE::UniversalRosEndEffectorExecutor::sendFeedbackGoal ( std::string  currentAction = "")
private

Definition at line 373 of file UniversalRosEndEffectorExecutor.cpp.

◆ spin()

void ROSEE::UniversalRosEndEffectorExecutor::spin ( )

Definition at line 499 of file UniversalRosEndEffectorExecutor.cpp.

◆ timer_callback()

void ROSEE::UniversalRosEndEffectorExecutor::timer_callback ( const ros::TimerEvent &  timer_ev)

Definition at line 434 of file UniversalRosEndEffectorExecutor.cpp.

◆ update_send_timed()

bool ROSEE::UniversalRosEndEffectorExecutor::update_send_timed ( )
private

◆ updateGoal()

bool ROSEE::UniversalRosEndEffectorExecutor::updateGoal ( )
private

Definition at line 191 of file UniversalRosEndEffectorExecutor.cpp.

◆ updateRefGoal()

bool ROSEE::UniversalRosEndEffectorExecutor::updateRefGoal ( double  percentage = 1.0)
private

Definition at line 328 of file UniversalRosEndEffectorExecutor.cpp.

Member Data Documentation

◆ _ee

ROSEE::EEInterface::Ptr ROSEE::UniversalRosEndEffectorExecutor::_ee
private

Definition at line 83 of file UniversalRosEndEffectorExecutor.h.

◆ _filt_q

ROSEE::Utils::SecondOrderFilter<Eigen::VectorXd> ROSEE::UniversalRosEndEffectorExecutor::_filt_q
private

Definition at line 100 of file UniversalRosEndEffectorExecutor.h.

◆ _fingFlexParsedMap

std::map<std::set<std::string>, ROSEE::ActionPrimitive::Ptr> ROSEE::UniversalRosEndEffectorExecutor::_fingFlexParsedMap
private

Definition at line 108 of file UniversalRosEndEffectorExecutor.h.

◆ _graspParsed

std::shared_ptr<ROSEE::ActionGeneric> ROSEE::UniversalRosEndEffectorExecutor::_graspParsed
private

Definition at line 110 of file UniversalRosEndEffectorExecutor.h.

◆ _joint_actual_pos

ROSEE::JointPos ROSEE::UniversalRosEndEffectorExecutor::_joint_actual_pos
private

Definition at line 90 of file UniversalRosEndEffectorExecutor.h.

◆ _joint_state_sub

ros::Subscriber ROSEE::UniversalRosEndEffectorExecutor::_joint_state_sub
private

Definition at line 91 of file UniversalRosEndEffectorExecutor.h.

◆ _loop_timer

ros::Timer ROSEE::UniversalRosEndEffectorExecutor::_loop_timer
private

Definition at line 79 of file UniversalRosEndEffectorExecutor.h.

◆ _motor_involved_mask

ROSEE::JointsInvolvedCount ROSEE::UniversalRosEndEffectorExecutor::_motor_involved_mask
private

Definition at line 117 of file UniversalRosEndEffectorExecutor.h.

◆ _motor_position_goal

ROSEE::JointPos ROSEE::UniversalRosEndEffectorExecutor::_motor_position_goal
private

Definition at line 118 of file UniversalRosEndEffectorExecutor.h.

◆ _motor_reference_pub

ros::Publisher ROSEE::UniversalRosEndEffectorExecutor::_motor_reference_pub
private

Definition at line 85 of file UniversalRosEndEffectorExecutor.h.

◆ _motors_names

std::vector<std::string> ROSEE::UniversalRosEndEffectorExecutor::_motors_names
private

Definition at line 94 of file UniversalRosEndEffectorExecutor.h.

◆ _motors_num

int ROSEE::UniversalRosEndEffectorExecutor::_motors_num = 0
private

Definition at line 87 of file UniversalRosEndEffectorExecutor.h.

◆ _mr_msg

sensor_msgs::JointState ROSEE::UniversalRosEndEffectorExecutor::_mr_msg
private

Definition at line 86 of file UniversalRosEndEffectorExecutor.h.

◆ _nh

ros::NodeHandle ROSEE::UniversalRosEndEffectorExecutor::_nh
private

Definition at line 78 of file UniversalRosEndEffectorExecutor.h.

◆ _period

double ROSEE::UniversalRosEndEffectorExecutor::_period
private

Definition at line 81 of file UniversalRosEndEffectorExecutor.h.

◆ _pinchLooseParsedMap

std::map<std::set<std::string>, ROSEE::ActionPrimitive::Ptr> ROSEE::UniversalRosEndEffectorExecutor::_pinchLooseParsedMap
private

Definition at line 105 of file UniversalRosEndEffectorExecutor.h.

◆ _pinchParsedMap

std::map<std::set<std::string>, ROSEE::ActionPrimitive::Ptr> ROSEE::UniversalRosEndEffectorExecutor::_pinchParsedMap
private

Definition at line 104 of file UniversalRosEndEffectorExecutor.h.

◆ _qref

Eigen::VectorXd ROSEE::UniversalRosEndEffectorExecutor::_qref
private

Definition at line 98 of file UniversalRosEndEffectorExecutor.h.

◆ _qref_filtered

Eigen::VectorXd ROSEE::UniversalRosEndEffectorExecutor::_qref_filtered
private

Definition at line 98 of file UniversalRosEndEffectorExecutor.h.

◆ _qref_optional

Eigen::VectorXd ROSEE::UniversalRosEndEffectorExecutor::_qref_optional
private

Definition at line 98 of file UniversalRosEndEffectorExecutor.h.

◆ _rate

double ROSEE::UniversalRosEndEffectorExecutor::_rate
private

Definition at line 81 of file UniversalRosEndEffectorExecutor.h.

◆ _ros_action_server

std::shared_ptr<RosActionServer> ROSEE::UniversalRosEndEffectorExecutor::_ros_action_server
private

Definition at line 115 of file UniversalRosEndEffectorExecutor.h.

◆ _ros_service_handler

std::shared_ptr<RosServiceHandler> ROSEE::UniversalRosEndEffectorExecutor::_ros_service_handler
private

Definition at line 114 of file UniversalRosEndEffectorExecutor.h.

◆ _seq_id

int ROSEE::UniversalRosEndEffectorExecutor::_seq_id = 0
private

Definition at line 88 of file UniversalRosEndEffectorExecutor.h.

◆ _time

double ROSEE::UniversalRosEndEffectorExecutor::_time
private

Definition at line 81 of file UniversalRosEndEffectorExecutor.h.

◆ _tipFlexParsedMap

std::map<std::set<std::string>, ROSEE::ActionPrimitive::Ptr> ROSEE::UniversalRosEndEffectorExecutor::_tipFlexParsedMap
private

Definition at line 107 of file UniversalRosEndEffectorExecutor.h.

◆ _trigParsedMap

std::map<std::set<std::string>, ROSEE::ActionPrimitive::Ptr> ROSEE::UniversalRosEndEffectorExecutor::_trigParsedMap
private

Definition at line 106 of file UniversalRosEndEffectorExecutor.h.

◆ folderForActions

std::string ROSEE::UniversalRosEndEffectorExecutor::folderForActions
private

Definition at line 96 of file UniversalRosEndEffectorExecutor.h.

◆ mapActionHandlerPtr

MapActionHandler::Ptr ROSEE::UniversalRosEndEffectorExecutor::mapActionHandlerPtr
private

Definition at line 112 of file UniversalRosEndEffectorExecutor.h.

◆ msToWait

double ROSEE::UniversalRosEndEffectorExecutor::msToWait
private

Definition at line 125 of file UniversalRosEndEffectorExecutor.h.

◆ normGoalFromInitialPos

double ROSEE::UniversalRosEndEffectorExecutor::normGoalFromInitialPos
private

Definition at line 119 of file UniversalRosEndEffectorExecutor.h.

◆ timed_index

unsigned int ROSEE::UniversalRosEndEffectorExecutor::timed_index
private

Definition at line 123 of file UniversalRosEndEffectorExecutor.h.

◆ timed_requested

bool ROSEE::UniversalRosEndEffectorExecutor::timed_requested
private

Definition at line 121 of file UniversalRosEndEffectorExecutor.h.

◆ timedAction

std::shared_ptr<ROSEE::ActionTimed> ROSEE::UniversalRosEndEffectorExecutor::timedAction
private

Definition at line 122 of file UniversalRosEndEffectorExecutor.h.

◆ timer

ROSEE::Utils::Timer ROSEE::UniversalRosEndEffectorExecutor::timer
private

Definition at line 124 of file UniversalRosEndEffectorExecutor.h.

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

end-effector
Author(s): Luca Muratore , Davide Torielli , Liana Bertoni
autogenerated on Sat Dec 14 2024 03:49:27