Interface Class Reference

Hand interface. More...

#include <Interface.hh>

Public Member Functions
	Interface ()
	Constructor. More...
bool	init (const std::string &config_file, const std::string &robot)
	Initalizes interface with config file. More...
std::string	getRobotName ()
	Gets robot name. More...
ignition::math::Matrix4d	getTransformBaseGripper ()
	Get T base to gripper frame. More...
void	setPose (ignition::math::Pose3d pose, double timeout=-1)
	Sets hand pose. More...
void	reset (void)
	Sends reset signal to hand plugin. More...
void	openFingers (double timeout=-1, bool set_position=false)
	Releases fingers and opens hand. More...
void	closeFingers (double timeout=-1, bool apply_force=false)
	Clenches fingers and closes hand. More...
void	raiseHand (double timeout=-1)
	Raises hand. More...
void	loop (void)
	TODO. More...

Static Public Attributes
static const grasp::msgs::Target_Type	FORCE
	Direct force/torque application. More...
static const grasp::msgs::Target_Type	POSITION
	Position controller target. More...
static const grasp::msgs::Target_Type	VELOCITY
	Velocity controller target. More...

Private Member Functions
int	processKeypress (char key)
	TODO. More...
void	moveJoint (const char *joint, double value)
	TODO. More...
void	moveFingers (double value)
	TODO. More...
void	setJoints (std::vector< std::string > &joints, std::vector< double > &values)
	TODO. More...

Private Attributes
std::string	robot_name
	Name of robot instance in Gazebo. More...
gazebo::transport::NodePtr	node
	Gazebo communication node. More...
gazebo::transport::PublisherPtr	pub
	Gazebo publisher. More...
std::vector< std::string >	joints
	Name of actuated robot joints. More...
std::map< std::string, double >	state
	Map with (name: value) states of each actuated joint. More...
std::vector< GraspShape >	grasps
	Set of grasp shapes. More...
ignition::math::Matrix4d	t_base_gripper
	Rigid transform from base link to gripper frame. More...

Detailed Description

Hand interface.

Constructor & Destructor Documentation

Interface

(

)

Constructor.

Member Function Documentation

void closeFingers	(	double	timeout = -1,
		bool	apply_force = false
	)

Clenches fingers and closes hand.

Parameters

timeout	Timer value
apply_force	Wether to bypass PIDs and apply force/torque directly

std::string getRobotName

(

)

Gets robot name.

Returns

Robot name string

ignition::math::Matrix4d getTransformBaseGripper

(

)

Get T base to gripper frame.

Returns

Rigid transform from base link to gripper frame

bool init	(	const std::string &	config_file,
		const std::string &	robot
	)

Initalizes interface with config file.

Returns

True on success, false otherwise.

void loop

(

void

)

TODO.

void moveFingers ( double  value )

private

TODO.

void moveJoint ( const char *  joint, double  value  )

private

TODO.

void openFingers	(	double	timeout = -1,
		bool	set_position = false
	)

Releases fingers and opens hand.

Parameters

timeout	Timer value
set_position	Set joint position to target value

int processKeypress ( char  key )

private

TODO.

void raiseHand

(

double

timeout = -1

)

Raises hand.

Parameters

timeout

Timer value

void reset

(

void

)

Sends reset signal to hand plugin.

void setJoints ( std::vector< std::string > &  joints, std::vector< double > &  values  )

private

TODO.

void setPose	(	ignition::math::Pose3d	pose,
		double	timeout = -1
	)

Sets hand pose.

Sets hand pose using virtual joints

Parameters

pose	New hand pose
timeout	Timer value

Member Data Documentation

const grasp::msgs::Target_Type FORCE

static

Initial value:

=
        grasp::msgs::Target::FORCE

Direct force/torque application.

std::vector<GraspShape> grasps

private

Set of grasp shapes.

std::vector<std::string> joints

private

Name of actuated robot joints.

gazebo::transport::NodePtr node

private

Gazebo communication node.

const grasp::msgs::Target_Type POSITION

static

Initial value:

= 
        grasp::msgs::Target::POSITION

Position controller target.

gazebo::transport::PublisherPtr pub

private

Gazebo publisher.

std::string robot_name

private

Name of robot instance in Gazebo.

std::map<std::string, double> state

private

Map with (name: value) states of each actuated joint.

ignition::math::Matrix4d t_base_gripper

private

Rigid transform from base link to gripper frame.

const grasp::msgs::Target_Type VELOCITY

static

Initial value:

=
        grasp::msgs::Target::VELOCITY

Velocity controller target.

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

• Interface.hh
• Interface.cc