HandMk3CouplingHandler Class Reference

#include <ControlBoardDriverCoupling.h>

Inheritance diagram for HandMk3CouplingHandler:

Collaboration diagram for HandMk3CouplingHandler:

Public Member Functions
	HandMk3CouplingHandler (gazebo::physics::Model *model, yarp::sig::VectorOf< int > coupled_joints, std::vector< std::string > coupled_joint_names, std::vector< Range > coupled_joint_limits)
bool	decouplePos (yarp::sig::Vector &current_pos)
bool	decoupleVel (yarp::sig::Vector &current_vel)
bool	decoupleAcc (yarp::sig::Vector &current_acc)
bool	decoupleTrq (yarp::sig::Vector &current_trq)
yarp::sig::Vector	decoupleRefPos (yarp::sig::Vector &pos_ref)
yarp::sig::Vector	decoupleRefVel (yarp::sig::Vector &vel_ref, const yarp::sig::Vector &pos_feedback)
yarp::sig::Vector	decoupleRefTrq (yarp::sig::Vector &trq_ref)
virtual yarp::sig::VectorOf< int >	getCoupledJoints ()
virtual std::string	getCoupledJointName (int joint)
virtual bool	checkJointIsCoupled (int joint)
virtual void	setCoupledJointLimit (int joint, const double &min, const double &max)
virtual void	getCoupledJointLimit (int joint, double &min, double &max)

Protected Member Functions
double	decouple (double q2, std::vector< double > &lut)

Protected Attributes
const int	LUTSIZE
std::vector< double >	thumb_lut
std::vector< double >	index_lut
gazebo::physics::Model *	m_robot
yarp::sig::VectorOf< int >	m_coupledJoints
std::vector< std::string >	m_coupledJointNames
std::unordered_map< int, Range >	m_coupledJointLimits
unsigned int	m_controllerPeriod
unsigned int	m_couplingSize

Constructor & Destructor Documentation

HandMk3CouplingHandler()

HandMk3CouplingHandler::HandMk3CouplingHandler	(	gazebo::physics::Model *	model,
		yarp::sig::VectorOf< int >	coupled_joints,
		std::vector< std::string >	coupled_joint_names,
		std::vector< Range >	coupled_joint_limits )

Member Function Documentation

decouplePos()

bool HandMk3CouplingHandler::decouplePos ( yarp::sig::Vector & current_pos )

virtual

Implements BaseCouplingHandler.

decoupleVel()

bool HandMk3CouplingHandler::decoupleVel ( yarp::sig::Vector & current_vel )

virtual

Implements BaseCouplingHandler.

decoupleAcc()

bool HandMk3CouplingHandler::decoupleAcc ( yarp::sig::Vector & current_acc )

virtual

Implements BaseCouplingHandler.

decoupleTrq()

bool HandMk3CouplingHandler::decoupleTrq ( yarp::sig::Vector & current_trq )

virtual

Implements BaseCouplingHandler.

decoupleRefPos()

yarp::sig::Vector HandMk3CouplingHandler::decoupleRefPos ( yarp::sig::Vector & pos_ref )

virtual

Implements BaseCouplingHandler.

decoupleRefVel()

yarp::sig::Vector HandMk3CouplingHandler::decoupleRefVel ( yarp::sig::Vector & vel_ref, const yarp::sig::Vector & pos_feedback )

virtual

Implements BaseCouplingHandler.

decoupleRefTrq()

yarp::sig::Vector HandMk3CouplingHandler::decoupleRefTrq ( yarp::sig::Vector & trq_ref )

virtual

Implements BaseCouplingHandler.

decouple()

double HandMk3CouplingHandler::decouple ( double q2, std::vector< double > & lut )

protected

getCoupledJoints()

yarp::sig::VectorOf< int > BaseCouplingHandler::getCoupledJoints ( )

virtualinherited

getCoupledJointName()

std::string BaseCouplingHandler::getCoupledJointName ( int joint )

virtualinherited

checkJointIsCoupled()

bool BaseCouplingHandler::checkJointIsCoupled ( int joint )

virtualinherited

setCoupledJointLimit()

void BaseCouplingHandler::setCoupledJointLimit ( int joint, const double & min, const double & max )

virtualinherited

getCoupledJointLimit()

void BaseCouplingHandler::getCoupledJointLimit ( int joint, double & min, double & max )

virtualinherited

Member Data Documentation

LUTSIZE

const int HandMk3CouplingHandler::LUTSIZE

protected

thumb_lut

std::vector<double> HandMk3CouplingHandler::thumb_lut

protected

index_lut

std::vector<double> HandMk3CouplingHandler::index_lut

protected

m_robot

gazebo::physics::Model* BaseCouplingHandler::m_robot

protectedinherited

m_coupledJoints

yarp::sig::VectorOf<int> BaseCouplingHandler::m_coupledJoints

protectedinherited

m_coupledJointNames

std::vector<std::string> BaseCouplingHandler::m_coupledJointNames

protectedinherited

m_coupledJointLimits

std::unordered_map<int, Range> BaseCouplingHandler::m_coupledJointLimits

protectedinherited

m_controllerPeriod

unsigned int BaseCouplingHandler::m_controllerPeriod

protectedinherited

m_couplingSize

unsigned int BaseCouplingHandler::m_couplingSize

protectedinherited

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

• ControlBoardDriverCoupling.h
• ControlBoardDriverCoupling.cpp