shadow_finger Namespace Reference

Utility functions for managing each finger of Shadow Hand. Contains struct to hold necessary data about each finger, and each instance can be passed around to planning utilities. Also contains some functionality for operating on BioTac sensor attached to the respective finger. More...

Classes
struct	Finger
	Utility struct for managing each finger of Shadow Hand. Contains all the information about the Finger instance, including joint limits, MoveGroup, MoveIt plan, and joint control publishers. More...

Functions
std::string	getSavedStateName (std::string finger_name, std::string saved_state)
	Get preloaded plan as string for open or close. More...
std::string	getMoveGroupName (std::string finger_name)
	Get planning group names given common name for finger. More...
std::vector< std::string >	getJointNames (moveit::planning_interface::MoveGroupInterface &move_group_interface)
	Get names of joints from given MoveGroupInterface. More...
std::vector< std::string >	getJointNames (moveit::planning_interface::MoveGroupInterface::Plan &plan)
std::vector< double >	getJointValues (moveit::planning_interface::MoveGroupInterface &move_group_interface)
	Get current values of joints from given MoveGroupInterface, they are in the same order as the names of joints obtained from getJointNames() More...
std::vector< std::tuple< float, float > >	getFingerJointLimits (std::vector< std::string > &joint_names)
	Get limits of each joint in given vector of joint names. This is obtained from the /robot_description URDF passed to ROS from the robot. More...
int	getBiotacIdx (std::string &finger_name)
	Fetch BioTac index given name of finger. More...
std::vector< std::string >	getJointNames (shadow_finger::Finger &finger)
std::vector< double >	getJointValues (shadow_finger::Finger &finger)

Variables
static const std::vector< std::string >	biotac_idx
	Lookup table that maps finger name to BioTac index. More...

Detailed Description

Utility functions for managing each finger of Shadow Hand. Contains struct to hold necessary data about each finger, and each instance can be passed around to planning utilities. Also contains some functionality for operating on BioTac sensor attached to the respective finger.

shadow_finger.hpp "include/shadowlibs/shadow_finger.hpp"

Function Documentation

int shadow_finger::getBiotacIdx ( std::string &  finger_name )

inline

Fetch BioTac index given name of finger.

Parameters

finger_name

String with name of finger

Returns

Integer index of BioTac, to be used for fetching correct data from ROS

std::vector<std::tuple<float, float> > shadow_finger::getFingerJointLimits ( std::vector< std::string > &  joint_names )

inline

Get limits of each joint in given vector of joint names. This is obtained from the /robot_description URDF passed to ROS from the robot.

Parameters

joint_names

The vector of strings containing the names of the joints

Returns

Vector of tuples, each with (upper,lower) limits of each joint, in the same order as the input vector

std::vector<std::string> shadow_finger::getJointNames ( moveit::planning_interface::MoveGroupInterface &  move_group_interface )

inline

Get names of joints from given MoveGroupInterface.

Parameters

move_group_interface

The MoveGroupInterface for the finger

Returns

The vector of strings containing the joints in that MoveGroup

std::vector<std::string> shadow_finger::getJointNames ( moveit::planning_interface::MoveGroupInterface::Plan &  plan )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

std::vector<std::string> shadow_finger::getJointNames ( shadow_finger::Finger &  finger )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

std::vector<double> shadow_finger::getJointValues ( moveit::planning_interface::MoveGroupInterface &  move_group_interface )

inline

Get current values of joints from given MoveGroupInterface, they are in the same order as the names of joints obtained from getJointNames()

Parameters

move_group_interface

The MoveGroupInterface for the finger

Returns

The vector of doubles containing the values of joints in that MoveGroup

std::vector<double> shadow_finger::getJointValues ( shadow_finger::Finger &  finger )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

std::string shadow_finger::getMoveGroupName ( std::string  finger_name )

inline

Get planning group names given common name for finger.

Parameters

finger_name

The name of the finger to operate on

Returns

Formatted string with the MoveGroup name

std::string shadow_finger::getSavedStateName ( std::string  finger_name, std::string  saved_state  )

inline

Get preloaded plan as string for open or close.

Parameters

finger_name	Name of the finger, or thumb
saved_state	Either "open" or "close"

Returns

Formatted string that is accepted by MoveIt planner

Variable Documentation

shadow_finger::biotac_idx

static

Initial value:

= {"first", "middle", "ring",
                                                    "little", "thumb"}

Lookup table that maps finger name to BioTac index.