ethercatcpp::ShadowHand Class Reference

This class describe the full EtherCAT driver for the shadow hand. More...

#include <shadow_hand.h>

Inheritance diagram for ethercatcpp::ShadowHand:

Public Member Functions
	ShadowHand (shadow::HandID hand_id, shadow::BiotacMode biotac_electrode_mode, shadow::ControlMode control_mode, std::unique_ptr< math::Interpolator< std::array< uint16_t, shadow::joint_count >, std::array< double, shadow::joint_count >>> joint_position_interpolator)
	Constructor of ShadowHand class. More...
	ShadowHand (shadow::HandID hand_id, shadow::BiotacMode biotac_electrode_mode, shadow::ControlMode control_mode)
	Constructor of ShadowHand class. More...
	~ShadowHand ()
const shadow::RawHandState &	state () const
	read only access to hand state More...
const shadow::RawHandCommand &	command () const
	read only access to hand command More...
shadow::RawHandCommand &	command ()
	read/write access to hand command More...
void	read_joints_torques ()
	read torques of hand's joints More...
void	read_raw_joints_positions ()
	read raw positions of hand's joints More...
void	read_joints_positions ()
	read positions of hand's joints More...
void	read_biotacs_pressures ()
	read pressure of biotac sensors More...
void	read_biotacs_temperatures ()
	read temperatures of biotac sensors More...
void	read_biotacs_electrodes ()
	read contact electrodes values of biotac sensors More...
void	read ()
	read all hand state data More...
void	write_joints_commands ()
	write joints commands More...
void	write ()
	write joints commands More...
void	print_fingers_positions ()
	Function used to print all fingers positions. More...
void	print_fingers_torques ()
	Function used to print all fingers torques. More...
void	print_biotacs_data ()
	Function used to print all biotacs datas (presure, temperature and electrode impedance) for all fingers. Electrodes impedances datas are updated anly if class is contruct with "WITH_BIOTACS_ELECTRODES" flag. More...
Public Member Functions inherited from ethercatcpp::BusDevice
	BusDevice ()
	Constructor of BusDevice class. More...
virtual	~BusDevice ()
void	add (Device &device)
	Add a device (slave or bus) in the bus. More...
Public Member Functions inherited from ethercatcpp::Device
	Device ()
virtual	~Device ()

Static Public Member Functions
static std::unique_ptr< math::Interpolator< std::array< uint16_t, shadow::joint_count >, std::array< double, shadow::joint_count > > >	default_joint_calibrator (shadow::HandID hand_id)

Private Member Functions
pImpl &	impl ()

Private Attributes
std::unique_ptr< pImpl >	impl_
shadow::RawHandState	state_
shadow::RawHandCommand	command_

Additional Inherited Members

Detailed Description

This class describe the full EtherCAT driver for the shadow hand.

It is the main driver, only used this one to control a shadow hand because Shadow hand is composed with two slaves (a fake and a controller). This class describe the full controller and permit communication between the shadow hand controller and an ethercat bus.

Examples

shadow_one_hand.cpp, shadow_one_hand_torque.cpp, shadow_two_hands_mono.cpp, and shadow_two_hands_multi.cpp.

Constructor & Destructor Documentation

ShadowHand() [1/2]

ethercatcpp::ShadowHand::ShadowHand	(	shadow::HandID	hand_id,
		shadow::BiotacMode	biotac_electrode_mode,
		shadow::ControlMode	control_mode,
		std::unique_ptr< math::Interpolator< std::array< uint16_t, shadow::joint_count >, std::array< double, shadow::joint_count >>>	joint_position_interpolator
	)

Constructor of ShadowHand class.

The constructor must have an information on witch hand is used (left or right) and if user needs biotacs eletrode data or not.

Parameters

[in]	hand_id	tells if this is a left or right hand
[in]	biotac_electrode_mode	is a BiotacMode which indicates if user need biotac electrodes data
[in]	control_mode	the control mode for the hand: torque or PWM
[in]	joint_position_interpolator	interpolator used to get joint position in radians from raw units (encoder counts)

ShadowHand() [2/2]

ethercatcpp::ShadowHand::ShadowHand	(	shadow::HandID	hand_id,
		shadow::BiotacMode	biotac_electrode_mode,
		shadow::ControlMode	control_mode
	)

Constructor of ShadowHand class.

The constructor must have an information on witch hand is used (left or right) and if user needs biotacs eletrode data or not.

Parameters

[in]	hand_id	tells if this is a left or right hand
[in]	biotac_electrode_mode	is a BiotacMode which indicates if user need biotac electrodes data
[in]	control_mode	the control mode for the hand: torque or PWM

~ShadowHand()

ethercatcpp::ShadowHand::~ShadowHand

(

)

Member Function Documentation

command() [1/2]

shadow::RawHandCommand& ethercatcpp::ShadowHand::command

(

)

read/write access to hand command

Returns

const RawHandState&

command() [2/2]

const shadow::RawHandCommand& ethercatcpp::ShadowHand::command

(

)

const

read only access to hand command

Returns

const RawHandState&

Examples

shadow_one_hand.cpp, and shadow_one_hand_torque.cpp.

default_joint_calibrator()

static std::unique_ptr< math::Interpolator<std::array<uint16_t, shadow::joint_count>, std::array<double, shadow::joint_count> > > ethercatcpp::ShadowHand::default_joint_calibrator ( shadow::HandID  hand_id )

static

impl()

pImpl& ethercatcpp::ShadowHand::impl ( )

inlineprivate

print_biotacs_data()

void ethercatcpp::ShadowHand::print_biotacs_data

(

)

Function used to print all biotacs datas (presure, temperature and electrode impedance) for all fingers. Electrodes impedances datas are updated anly if class is contruct with "WITH_BIOTACS_ELECTRODES" flag.

print_fingers_positions()

void ethercatcpp::ShadowHand::print_fingers_positions

(

)

Function used to print all fingers positions.

print_fingers_torques()

void ethercatcpp::ShadowHand::print_fingers_torques

(

)

Function used to print all fingers torques.

read()

void ethercatcpp::ShadowHand::read

(

)

read all hand state data

Examples

shadow_one_hand.cpp, shadow_one_hand_torque.cpp, and shadow_two_hands_mono.cpp.

read_biotacs_electrodes()

void ethercatcpp::ShadowHand::read_biotacs_electrodes

(

)

read contact electrodes values of biotac sensors

read_biotacs_pressures()

void ethercatcpp::ShadowHand::read_biotacs_pressures

(

)

read pressure of biotac sensors

read_biotacs_temperatures()

void ethercatcpp::ShadowHand::read_biotacs_temperatures

(

)

read temperatures of biotac sensors

read_joints_positions()

void ethercatcpp::ShadowHand::read_joints_positions

(

)

read positions of hand's joints

read_joints_torques()

void ethercatcpp::ShadowHand::read_joints_torques

(

)

read torques of hand's joints

read_raw_joints_positions()

void ethercatcpp::ShadowHand::read_raw_joints_positions

(

)

read raw positions of hand's joints

state()

const shadow::RawHandState& ethercatcpp::ShadowHand::state

(

)

const

read only access to hand state

Returns

const RawHandState&

Examples

shadow_one_hand.cpp.

write()

void ethercatcpp::ShadowHand::write

(

)

write joints commands

same as write_joints_commands()

See also

write_joints_commands()

Examples

shadow_one_hand.cpp, shadow_one_hand_torque.cpp, and shadow_two_hands_mono.cpp.

write_joints_commands()

void ethercatcpp::ShadowHand::write_joints_commands

(

)

write joints commands

Member Data Documentation

command_

shadow::RawHandCommand ethercatcpp::ShadowHand::command_

private

impl_

std::unique_ptr<pImpl> ethercatcpp::ShadowHand::impl_

private

state_

shadow::RawHandState ethercatcpp::ShadowHand::state_

private

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

• shadow_hand.h