#include <HandPlugin.hh>

Public Member Functions
	HandPlugin ()
	Constructs the object. More...

virtual	~HandPlugin ()
	Destroys the object. More...

virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Loads the plugin. More...

void	onUpdate ()
	Updates model on world update. More...

void	onReset ()
	Updates model on world reset. More...

void	onRequest (HandMsgPtr &_msg)
	Callback function for handling incoming requests. More...

Private Member Functions
bool	loadMimicJoints (sdf::ElementPtr _sdf, JointGroup &joint)
	TODO. More...

bool	loadJointGroups (sdf::ElementPtr _sdf)
	Loads finger joints. More...

bool	loadVirtualJoints (sdf::ElementPtr _sdf)
	Loads virtual joints. More...

bool	loadControllers (sdf::ElementPtr _sdf)
	Loads PID controllers for each joint. More...

void	imobilise ()
	Imobilises the hand. More...

void	resetJoints ()
	Resets finger joints to default pose. More...

void	setupTimer (common::Time &timeout, bool &trigger, const common::Time &duration)
	Sets up a timer routine. More...

void	setPose (const ignition::math::Pose3d &pose)
	Changes hand's pose. More...

void	updatePose (HandMsgPtr &_msg)
	Changes hand's pose on request. More...

void	updateTimer (HandMsgPtr &_msg)
	Updates internal timer. More...

void	updateForces ()
	Updates joints by applying forces directly. More...

void	setPIDController (physics::JointControllerPtr controller, int type, physics::JointPtr joint, double p, double i, double d, double initial_value)

void	setPIDTarget (int type, physics::JointPtr joint, double value, bool force=false)
	Change PID target. More...

void	updatePIDTargets (HandMsgPtr &_msg)
	Changes hand's pid controller targets. More...

void	checkReset (HandMsgPtr &_msg)
	Resets world on request. More...

void	sendTimeout ()
	Broadcasts a timeout message. More...

void	resetWorld ()
	Resets the world. More...

Private Attributes
std::unique_ptr< HandPluginPrivate >	data_ptr
	Class with private attributes. More...

physics::ModelPtr	model
	Model to which the plugin is attached. More...

physics::WorldPtr	world
	World in which the model exists. More...

event::ConnectionPtr	update_connection
	Connection to world update event. More...

event::ConnectionPtr	reset_connection
	Connection to world reset event. More...

std::vector< JointGroup >	joint_groups
	Array of finger joints. More...

std::vector< physics::JointPtr >	virtual_joints
	Array of virtual x y z r p y joint pointers. More...

bool	timer_active {false}
	Timeout trigger. More...

common::Time	timeout
	Next timeout. More...

const common::Time	routine_timestep {0.02}
	Routine update time step in seconds. More...

bool	routine_active {false}
	Periodic timer trigger. More...

common::Time	routine_timeout
	Next routine timeout. More...

std::vector< JointForcePair >	joint_force_pairs
	Array of finger joints. More...

ignition::math::Pose3d	init_pose {0,0,1,0,0,0}
	Initial pose. More...

bool	recv_msg {false}
	Flag for message received. More...

boost::shared_ptr< HandMsg const >	msg_req
	Last received request message. More...

Constructor & Destructor Documentation

HandPlugin ( )

Constructs the object.

~HandPlugin ( )

virtual

Destroys the object.

Member Function Documentation

void checkReset ( HandMsgPtr & _msg )

private

Resets world on request.

Parameters

_msg	The request message

void imobilise ( )

private

Imobilises the hand.

void Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)

virtual

Loads the plugin.

Parameters

_model	The model pointer
_sdf	The sdf element pointer

bool loadControllers ( sdf::ElementPtr _sdf )

private

Loads PID controllers for each joint.

Parameters

_sdf	The root sdf element pointer

Returns: Success

bool loadJointGroups ( sdf::ElementPtr _sdf )

private

Loads finger joints.

Parameters

_sdf	The root sdf element pointer

Returns: Success

bool loadMimicJoints	(	sdf::ElementPtr	_sdf,
		JointGroup &	joint
	)

private

TODO.

bool loadVirtualJoints ( sdf::ElementPtr _sdf )

private

Loads virtual joints.

Parameters

_sdf	The root sdf element pointer

Returns: Success

void onRequest ( HandMsgPtr & _msg )

Callback function for handling incoming requests.

Parameters

_msg	The message

void onReset ( )

Updates model on world reset.

void onUpdate ( )

Updates model on world update.

void resetJoints ( )

private

Resets finger joints to default pose.

void resetWorld ( )

private

Resets the world.

void sendTimeout ( )

private

Broadcasts a timeout message.

void setPIDController	(	physics::JointControllerPtr	controller,
		int	type,
		physics::JointPtr	joint,
		double	p,
		double	i,
		double	d,
		double	initial_value
	)

private

void setPIDTarget	(	int	type,
		physics::JointPtr	joint,
		double	value,
		bool	force = `false`
	)

private

Change PID target.

Parameters

type	Type of PID control
joint	Scoped name of controlled joint
value	Desired target value
force	Force joint position to target value

void setPose ( const ignition::math::Pose3d & pose )

private

Changes hand's pose.

Since the hand is fixed to the world, the pose can not be set directly, and instead must be obtained using the virtual joints.

Parameters

pose	The new pose

void setupTimer	(	common::Time &	timeout,
		bool &	trigger,
		const common::Time &	duration
	)

private

Sets up a timer routine.

Parameters

timeout	Timeout to be checked in main onUpdate routine
trigger	Boolean switch that indicates timer is active
duration	Time until next timeout

void updateForces ( )

private

Updates joints by applying forces directly.

void updatePIDTargets ( HandMsgPtr & _msg )

private

Changes hand's pid controller targets.

Parameters

_msg	The request message

void updatePose ( HandMsgPtr & _msg )

private

Changes hand's pose on request.

Parameters

_msg	The request message

void updateTimer ( HandMsgPtr & _msg )

private

Updates internal timer.

Parameters

_msg	The request message

Member Data Documentation

std::unique_ptr<HandPluginPrivate> data_ptr

private

Class with private attributes.

ignition::math::Pose3d init_pose {0,0,1,0,0,0}

private

Initial pose.

std::vector<JointForcePair> joint_force_pairs

private

Array of finger joints.

std::vector<JointGroup> joint_groups

private

Array of finger joints.

physics::ModelPtr model

private

Model to which the plugin is attached.

boost::shared_ptr<HandMsg const> msg_req

private

Last received request message.

bool recv_msg {false}

private

Flag for message received.

event::ConnectionPtr reset_connection

private

Connection to world reset event.

bool routine_active {false}

private

Periodic timer trigger.

common::Time routine_timeout

private

Next routine timeout.

const common::Time routine_timestep {0.02}

private

Routine update time step in seconds.

common::Time timeout

private

Next timeout.

bool timer_active {false}

private

Timeout trigger.

event::ConnectionPtr update_connection

private

Connection to world update event.

std::vector<physics::JointPtr> virtual_joints

private

Array of virtual x y z r p y joint pointers.

physics::WorldPtr world

private

World in which the model exists.

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

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation