Class representing and End-Effector. More...

#include <EEInterface.h>

Collaboration diagram for ROSEE::EEInterface:

Public Types
typedef std::shared_ptr< EEInterface >	Ptr

typedef std::shared_ptr< const EEInterface >	ConstPtr

Public Member Functions
	EEInterface (const ROSEE::Parser &p)

virtual	~EEInterface ()

const std::vector< std::string > &	getFingers ()
	getter for the fingers name in the current End-Effector More...

bool	isFinger (std::string finger_name)
	check is the requested finger exists More...

const std::vector< std::string > &	getActuatedJoints ()
	getter for the actuated joints of the end-effector More...

bool	getActuatedJointsInFinger (std::string finger_name, std::vector< std::string > &actuated_joints)
	getter for the actuated joints of a finger More...

int	getActuatedJointsNum ()
	getter for the number of actuated joints in the end-effector More...

int	getActuatedJointsNumInFinger (std::string finger_name)
	getter for the number of actuated joints in the requested finger More...

Eigen::VectorXd	getUpperPositionLimits ()
	getter for the upper position limits of EE joints as specified in the URDF More...

Eigen::VectorXd	getLowerPositionLimits ()
	getter for the lower position limits of EE joints as specified in the URDF More...

bool	getInternalIdsForFinger (std::string finger_name, std::vector< int > &internal_ids)
	getter for the internal ids (position in the EEInterface vectors) of joints in a certain finger More...

bool	getInternalIdForJoint (std::string joint_name, int &internal_id)
	getter for the internal id of a certain joint More...

int	getFingersNumber ()
	getter for the number of fingers in the End-Effector More...

std::string	getName ()
	getter for the EE name More...

Private Attributes
std::map< std::string, std::vector< std::string > >	_ee_description

std::map< std::string, urdf::JointConstSharedPtr >	_urdf_joint_map

std::map< std::string, std::vector< int > >	_finger_joints_internal_id_map

std::map< std::string, int >	_joints_internal_id_map

std::vector< std::string >	_fingers_names

std::vector< std::string >	_actuated_joints

Eigen::VectorXd	_upper_limits

Eigen::VectorXd	_lower_limits

std::string	_ee_name

int	_joints_num = 0

Detailed Description

Class representing and End-Effector.

Definition at line 36 of file EEInterface.h.

Member Typedef Documentation

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

Definition at line 41 of file EEInterface.h.

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

Definition at line 40 of file EEInterface.h.

Constructor & Destructor Documentation

ROSEE::EEInterface::EEInterface ( const ROSEE::Parser & p )

Definition at line 20 of file EEInterface.cpp.

                                                       {
     
     // get number of joints from parse and resize dynamic structure
     _joints_num = p.getActuatedJointsNumber();
     _upper_limits.resize(_joints_num);
     _lower_limits.resize(_joints_num);
     
     // get the EE name
     _ee_name = p.getEndEffectorName();
     
     // get the ee description
     _ee_description = p.getFingerJointMap();
     
     // get he joints urdf description
     _urdf_joint_map = p.getUrdfJointMap();
     
     int id = 0;
     
     // save the finger names
     for( const auto& finger_joints_pair : _ee_description ) {
         
         // fingers
         std::string finger_name = finger_joints_pair.first;
         _fingers_names.push_back(finger_name);
 
         for( const auto& j : finger_joints_pair.second ) {
             
             // joint name
             _actuated_joints.push_back(j);
             
             // internal id
             _joints_internal_id_map[j] = id;
             
             // finger internal id map 
             _finger_joints_internal_id_map[finger_name].push_back(id);
             
             // upper limits
             _upper_limits[id] = _urdf_joint_map.at(j)->limits->upper;
             
             // lower limits
             _lower_limits[id] = _urdf_joint_map.at(j)->limits->lower;
             
             // increase internal id
             id++;
         }
     }
 
 }

ROSEE::EEInterface::~EEInterface ( )

virtual

Definition at line 160 of file EEInterface.cpp.

                                {
 
 }

Member Function Documentation

const std::vector< std::string > & ROSEE::EEInterface::getActuatedJoints ( )

getter for the actuated joints of the end-effector

Returns: const std::vector< std::string >& the actuated joint in the End-Effector as a vector of String

Definition at line 122 of file EEInterface.cpp.

                                                                     {
     
     return _actuated_joints;
 }

bool ROSEE::EEInterface::getActuatedJointsInFinger	(	std::string	finger_name,
		std::vector< std::string > &	actuated_joints
	)

getter for the actuated joints of a finger

Parameters

finger_name	the name of the finger where to retrieve actuated joints
actuated_joints	[out] will be filled with the actuated joints of the finger

Returns: bool true if the requested finger exists, false otherwise

Definition at line 128 of file EEInterface.cpp.

                                                                                                                   {
 
     if( !isFinger(finger_name) ) {
         
         return false;
     }
     
     actuated_joints = _ee_description.at(finger_name);
     return true;
 }

int ROSEE::EEInterface::getActuatedJointsNum ( )

getter for the number of actuated joints in the end-effector

Returns: int the number of actuated joints in the end effector

Definition at line 139 of file EEInterface.cpp.

                                            {
     
     return _joints_num;
 }

int ROSEE::EEInterface::getActuatedJointsNumInFinger ( std::string finger_name )

getter for the number of actuated joints in the requested finger

Parameters

finger_name the name of the finger where to retrieve the number of actuated joints

Returns: int the number of actuated joints in finger_name, or -1 if the finger does not exists

Definition at line 144 of file EEInterface.cpp.

                                                                            {
     
     if( !isFinger(finger_name) ) {
         
         return -1;
     } 
 
     return _ee_description.at(finger_name).size();
 }

const std::vector< std::string > & ROSEE::EEInterface::getFingers ( )

getter for the fingers name in the current End-Effector

Returns: std::vector<std::string>& existing finger names in the End-Effector

Definition at line 110 of file EEInterface.cpp.

                                                            {
     
     return _fingers_names;
 }

int ROSEE::EEInterface::getFingersNumber ( )

getter for the number of fingers in the End-Effector

Returns: int the number of fingers in the End-Effector

Definition at line 154 of file EEInterface.cpp.

                                        {
     
     return _fingers_names.size();
 }

bool ROSEE::EEInterface::getInternalIdForJoint	(	std::string	joint_name,
		int &	internal_id
	)

getter for the internal id of a certain joint

Parameters

joint_name	the name of the requested joint
internal_id	the internal id of the requested joint

Returns: bool true if the joint exists, false otherwise

Definition at line 85 of file EEInterface.cpp.

                                                                                       {
         
     if ( _joints_internal_id_map.count(joint_name) ) {
         
         internal_id = _joints_internal_id_map.at(joint_name);
         return true;
     }
     
     return false;
 
 }

bool ROSEE::EEInterface::getInternalIdsForFinger	(	std::string	finger_name,
		std::vector< int > &	internal_ids
	)

getter for the internal ids (position in the EEInterface vectors) of joints in a certain finger

Parameters

finger_name	the name of the requested finger
internal_ids	the internal ids of the joints in the requested finger

Returns: bool true if the finger exists, false otherwise

Definition at line 98 of file EEInterface.cpp.

                                                                                                        {
 
     if ( _finger_joints_internal_id_map.count(finger_name) ) {
         
         internal_ids = _finger_joints_internal_id_map.at(finger_name);
         return true;
     }
     
     return false;
 
 }

Eigen::VectorXd ROSEE::EEInterface::getLowerPositionLimits ( )

getter for the lower position limits of EE joints as specified in the URDF

Returns: Eigen::VectorXd the lower position limits of EE joints as specified in the URDF

Definition at line 75 of file EEInterface.cpp.

                                                        {
 
     return _lower_limits;
 }

std::string ROSEE::EEInterface::getName ( )

getter for the EE name

Returns: std::string the EE name parsed from the given config files of the EE

Definition at line 69 of file EEInterface.cpp.

                                     {
     
     return _ee_name;
 }

Eigen::VectorXd ROSEE::EEInterface::getUpperPositionLimits ( )

getter for the upper position limits of EE joints as specified in the URDF

Returns: Eigen::VectorXd the upper position limits of EE joints as specified in the URDF

Definition at line 80 of file EEInterface.cpp.

                                                        {
 
     return _upper_limits;
 }

bool ROSEE::EEInterface::isFinger ( std::string finger_name )

check is the requested finger exists

Parameters

finger_name name of the finger to check

Returns: true if the finger exists, false otherwise

Definition at line 115 of file EEInterface.cpp.

                                                         {
     
     return ( _ee_description.count(finger_name) > 0 );
 }

Member Data Documentation

std::vector<std::string> ROSEE::EEInterface::_actuated_joints

private

Definition at line 149 of file EEInterface.h.

std::map<std::string, std::vector<std::string> > ROSEE::EEInterface::_ee_description

private

Definition at line 142 of file EEInterface.h.

std::string ROSEE::EEInterface::_ee_name

private

Definition at line 153 of file EEInterface.h.

std::map<std::string, std::vector<int> > ROSEE::EEInterface::_finger_joints_internal_id_map

private

Definition at line 145 of file EEInterface.h.

std::vector<std::string> ROSEE::EEInterface::_fingers_names

private

Definition at line 149 of file EEInterface.h.

std::map<std::string, int> ROSEE::EEInterface::_joints_internal_id_map

private

Definition at line 147 of file EEInterface.h.

int ROSEE::EEInterface::_joints_num = 0

private

Definition at line 155 of file EEInterface.h.

Eigen::VectorXd ROSEE::EEInterface::_lower_limits

private

Definition at line 151 of file EEInterface.h.

Eigen::VectorXd ROSEE::EEInterface::_upper_limits

private

Definition at line 151 of file EEInterface.h.

std::map<std::string, urdf::JointConstSharedPtr> ROSEE::EEInterface::_urdf_joint_map

private

Definition at line 143 of file EEInterface.h.

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

/home/travis/build/ADVRHumanoids/ROSEndEffector/include/end_effector/EEInterface.h
/home/travis/build/ADVRHumanoids/ROSEndEffector/src/EEInterface.cpp

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation