ROSEE::DummyHal Class Reference

Class representing an end-effector. More...

#include <DummyHal.h>

Inheritance diagram for ROSEE::DummyHal:

Collaboration diagram for ROSEE::DummyHal:

Public Types
typedef std::shared_ptr< DummyHal >	Ptr
typedef std::shared_ptr< const DummyHal >	ConstPtr
Public Types inherited from ROSEE::EEHal
typedef std::shared_ptr< EEHal >	Ptr
typedef std::shared_ptr< const EEHal >	ConstPtr

Public Member Functions
	DummyHal (ros::NodeHandle *nh)
virtual	~DummyHal ()
virtual bool	sense () override
virtual bool	move () override
Public Member Functions inherited from ROSEE::EEHal
	EEHal (ros::NodeHandle *nh)
virtual	~EEHal ()
virtual bool	publish_joint_state ()
virtual bool	checkCommandPub ()
virtual bool	getFingersNames (std::vector< std::string > &fingers_names)
virtual bool	getMotorsNames (std::vector< std::string > &motors_names)
virtual bool	getMotorStiffness (Eigen::VectorXd &motors_stiffness)
virtual bool	getTipsFrictions (Eigen::VectorXd &tips_friction)
virtual bool	getMotorTorqueLimits (Eigen::VectorXd &motors_torque_limits)
virtual bool	getTipJointToTipFrameX (Eigen::VectorXd &tip_joint_to_tip_frame_x)
virtual bool	getTipJointToTipFrameY (Eigen::VectorXd &tip_joint_to_tip_frame_y)
virtual bool	getTipsJacobiansNormal (std::unordered_map< std::string, Eigen::MatrixXd > &tips_jacobian_normal)
virtual bool	getTipsJacobiansFriction (std::unordered_map< std::string, Eigen::MatrixXd > &tips_jacobian_friction)
virtual bool	getTransmissionMatrix (Eigen::MatrixXd &transmission_matrix)
virtual bool	getTransmissionSquareMatrices (std::unordered_map< std::string, Eigen::MatrixXd > &transmission_square_matrices)
virtual bool	getTransmissionAugmentedMatrices (std::unordered_map< std::string, Eigen::MatrixXd > &transmission_augmented_matrices)
virtual bool	getTipsForcesNormal (Eigen::VectorXd &tips_forces_normal)
virtual bool	getTipsForcesFriction (Eigen::VectorXd &tips_forces_friction)
virtual bool	parseHandInfo ()
virtual bool	isHandInfoPresent ()
virtual bool	init_hand_info_response ()
	init the service message with info parsed from yaml file, ie info that will not change according to hand configuration A derived HAL can override this if necessary, since this is called by EEHalExecutor More...
virtual bool	setHandInfoCallback ()
	Here service is advertise and callback set: if derived class wants to use different callback, they must override this and do : _hand_info_server = _nh->advertiseService(_hand_info_service_name, <custom_callback>);. More...
bool	publish_pressure ()
Eigen::VectorXd	getMotorReference () const
Eigen::VectorXd	getJointPosition () const
Eigen::VectorXd	getJointEffort () const
Eigen::MatrixXd	getPressure () const

Private Member Functions
void	hal_js_clbk (const sensor_msgs::JointState::ConstPtr &msg)

Private Attributes
ros::Publisher	_hal_joint_state_pub
	this will publish to joint_state_publisher More...
ros::Subscriber	_hal_joint_state_sub
	this will subscribe to joint_state_publisher More...

Additional Inherited Members
Public Attributes inherited from ROSEE::EEHal
bool	_pressure_active
Protected Member Functions inherited from ROSEE::EEHal
bool	initPressureSensing ()
Protected Attributes inherited from ROSEE::EEHal
ros::NodeHandle *	_nh
sensor_msgs::JointState	_mr_msg
	The references that must be read in the move() to send to the real/simulated robot TODO put private and create a get ? (no set) More...
ros::Subscriber	_motor_reference_sub
sensor_msgs::JointState	_js_msg
	The states that must be filled in the sense(), reading info from real/simulated robot TODO put private and create a set (no get) ? More...
ros::Publisher	_joint_state_pub
rosee_msg::MotorPhalangePressure	_pressure_msg
ros::Publisher	_pressure_pub
std::vector< std::string >	fingers_names
std::vector< std::string >	motors_names
Eigen::VectorXd	tips_frictions
Eigen::VectorXd	motors_torque_limits
Eigen::VectorXd	motors_stiffness
Eigen::VectorXd	tip_joint_to_tip_frame_x
Eigen::VectorXd	tip_joint_to_tip_frame_y
ros::ServiceServer	_hand_info_server
rosee_msg::HandInfo::Response	_hand_info_response
std::string	_hand_info_service_name

Detailed Description

Class representing an end-effector.

Definition at line 34 of file DummyHal.h.

Member Typedef Documentation

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

Definition at line 39 of file DummyHal.h.

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

Definition at line 38 of file DummyHal.h.

Constructor & Destructor Documentation

ROSEE::DummyHal::DummyHal

(

ros::NodeHandle *

nh

)

Definition at line 20 of file DummyHal.cpp.

                                           : EEHal ( nh ) {
    
    std::string out;
    
    _hal_joint_state_pub = nh->advertise<sensor_msgs::JointState>("/dummyHal/joint_command", 1);
    _hal_joint_state_sub = nh->subscribe("/dummyHal/joint_states", 1, &ROSEE::DummyHal::hal_js_clbk, this);
}

virtual ROSEE::DummyHal::~DummyHal ( )

inlinevirtual

Definition at line 42 of file DummyHal.h.

{};

Member Function Documentation

void ROSEE::DummyHal::hal_js_clbk ( const sensor_msgs::JointState::ConstPtr &  msg )

private

Definition at line 39 of file DummyHal.cpp.

                                                                        {
    
    _js_msg = *msg;
}

bool ROSEE::DummyHal::move ( )

overridevirtual

Implements ROSEE::EEHal.

Definition at line 34 of file DummyHal.cpp.

                         {
    _hal_joint_state_pub.publish(_mr_msg);
    return true;
}

bool ROSEE::DummyHal::sense ( )

overridevirtual

Implements ROSEE::EEHal.

Definition at line 29 of file DummyHal.cpp.

                          {
    //do nothing, it is the hal_js_clbk who "sense"
    return true;
}

Member Data Documentation

ros::Publisher ROSEE::DummyHal::_hal_joint_state_pub

private

this will publish to joint_state_publisher

Definition at line 51 of file DummyHal.h.

ros::Subscriber ROSEE::DummyHal::_hal_joint_state_sub

private

this will subscribe to joint_state_publisher

Definition at line 56 of file DummyHal.h.

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

• /home/travis/build/ADVRHumanoids/ROSEndEffector/include/end_effector/HAL/DummyHal.h
• /home/travis/build/ADVRHumanoids/ROSEndEffector/src/HAL/DummyHal.cpp