#include <shadowlibs/shadow_utils.hpp>

Include dependency graph for shadow_finger.hpp:

This graph shows which files directly or indirectly include this file:

Classes
struct	shadow_finger::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...

struct	shadow_finger::Finger::BioTac
	Utility struct for managing the BioTac sensor attached to each finger. Holds the pressure and impedance data obtained from the sensor. More...

Namespaces
	shadow_finger
	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.

Functions
std::string	shadow_finger::getSavedStateName (std::string finger_name, std::string saved_state)
	Get preloaded plan as string for open or close. More...

std::string	shadow_finger::getMoveGroupName (std::string finger_name)
	Get planning group names given common name for finger. More...

std::vector< std::string >	shadow_finger::getJointNames (moveit::planning_interface::MoveGroupInterface &move_group_interface)
	Get names of joints from given MoveGroupInterface. More...

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

std::vector< double >	shadow_finger::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 > >	shadow_finger::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	shadow_finger::getBiotacIdx (std::string &finger_name)
	Fetch BioTac index given name of finger. More...

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

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

std::ostream &	operator<< (std::ostream &os, const shadow_finger::Finger &finger)

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

Function Documentation

inline

Classes