shadow_finger::Finger Struct Reference

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...

#include "include/shadowlibs/shadow_finger.hpp"

Collaboration diagram for shadow_finger::Finger:

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

Public Member Functions
	Finger (std::string &finger_name, ros::NodeHandle &node_handle)
	Constructor for each finger. Requires name of finger and a ROS node handle reference. Everything else is populated by constructor. More...
std::string	getFingerName ()
	Getter function for finger name. More...
std::tuple< float, float >	jointLimitsFromName (std::string &joint_name)
	Get joint limits from joint name, from vector of tuples populated by getFingerJointLimits() More...
shadow_finger::Finger::BioTac	getBioTacPressure ()
	Get populated struct containing BioTac pressure data. More...
shadow_finger::Finger::BioTac	getBioTacImpedance ()
	Get populated struct containing BioTac impedance data. More...
shadow_finger::Finger::BioTac	getBioTacImpedancePressure ()
	Get populated struct containing BioTac pressure and impedance data. More...
float	getFSRValue ()
	Get FSR value. More...

Public Attributes
ros::NodeHandle	_node_handle
	The ROS node handle. More...
std::string	_finger_name
	The name of this finger instance. More...
int	_biotac_id
	The index of the BioTac sensor. More...
std::vector< std::string >	_joint_names
	Vector of strings of all joints in this finger. More...
std::vector< std::tuple< float, float > >	_joint_limits
	Vector of tuples of joint limits of each joint in finger. More...
moveit::planning_interface::MoveGroupInterface	_finger_move_group
	MoveGroupInterface for this finger. More...
moveit::planning_interface::MoveGroupInterface::Plan	_plan
	MoveIt plan generated for this finger. More...
shadow_planning::PlanningOptions	_planning_options
std::vector< ros::Publisher >	_joint_controller_publishers
	Vector of ROS publishers, for sending control data for each joint in finger. More...
std::string	_fsr_topic
	Subscriber topic for getting FSR data for finger. More...

Detailed Description

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.

Constructor & Destructor Documentation

shadow_finger::Finger::Finger ( std::string &  finger_name, ros::NodeHandle &  node_handle  )

inline

Constructor for each finger. Requires name of finger and a ROS node handle reference. Everything else is populated by constructor.

Parameters

finger_name	Name of the finger
node_handle	ROS node handle reference

Member Function Documentation

shadow_finger::Finger::BioTac shadow_finger::Finger::getBioTacImpedance

(

)

Get populated struct containing BioTac impedance data.

Returns

shadow_finger::Finger::BioTac struct

shadow_finger::Finger::BioTac shadow_finger::Finger::getBioTacImpedancePressure

(

)

Get populated struct containing BioTac pressure and impedance data.

Returns

shadow_finger::Finger::BioTac struct

shadow_finger::Finger::BioTac shadow_finger::Finger::getBioTacPressure

(

)

Get populated struct containing BioTac pressure data.

Returns

shadow_finger::Finger::BioTac struct

std::string shadow_finger::Finger::getFingerName ( )

inline

Getter function for finger name.

Returns

String with the finger name

float shadow_finger::Finger::getFSRValue

(

)

Get FSR value.

std::tuple<float, float> shadow_finger::Finger::jointLimitsFromName ( std::string &  joint_name )

inline

Get joint limits from joint name, from vector of tuples populated by getFingerJointLimits()

Parameters

joint_name

Name of the joint whose limits are to be fetched

Returns

tuple containing upper and lower limits of joint

Member Data Documentation

shadow_finger::Finger::_biotac_id

The index of the BioTac sensor.

shadow_finger::Finger::_finger_move_group

MoveGroupInterface for this finger.

shadow_finger::Finger::_finger_name

The name of this finger instance.

shadow_finger::Finger::_fsr_topic

Subscriber topic for getting FSR data for finger.

shadow_finger::Finger::_joint_controller_publishers

Vector of ROS publishers, for sending control data for each joint in finger.

shadow_finger::Finger::_joint_limits

Vector of tuples of joint limits of each joint in finger.

shadow_finger::Finger::_joint_names

Vector of strings of all joints in this finger.

shadow_finger::Finger::_node_handle

The ROS node handle.

shadow_finger::Finger::_plan

MoveIt plan generated for this finger.

shadow_planning::PlanningOptions shadow_finger::Finger::_planning_options

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

• /home/user/workspace/src/shadowlibs/include/shadowlibs/shadow_finger.hpp
• /home/user/workspace/src/shadowlibs/src/shadow_finger.cpp