types needed to describe a shadow hand More...

#include <cstdint>
#include <array>

Include dependency graph for common.h:

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

Classes
struct	ethercatcpp::shadow::BiotacPressures
	All raw pressure measurements given by a Biotac. More...

struct	ethercatcpp::shadow::BiotacTemperatures
	All raw temperature measurements given by a Biotac. More...

struct	ethercatcpp::shadow::BiotacElectrodes
	All raw impedance electrodes measurements given by a Biotac. More...

struct	ethercatcpp::shadow::RawHandState

struct	ethercatcpp::shadow::RawHandCommand

Namespaces
	ethercatcpp

	ethercatcpp::shadow

Enumerations
enum	ethercatcpp::shadow::HandType { ethercatcpp::shadow::HandType::Right, ethercatcpp::shadow::HandType::Left }
	Describes the hand type: right or left. More...

enum	ethercatcpp::shadow::HandID { ethercatcpp::shadow::HandID::LirmmRight, ethercatcpp::shadow::HandID::LirmmLeft, ethercatcpp::shadow::HandID::Count }
	List of known Shadow hands with their respective serial number. More...

enum	ethercatcpp::shadow::BiotacMode { ethercatcpp::shadow::BiotacMode::WithElectrodes, ethercatcpp::shadow::BiotacMode::WithoutElectrodes }
	Describes the Biotac working mode: with or without the electrodes. More...

enum	ethercatcpp::shadow::ControlMode { ethercatcpp::shadow::ControlMode::Torque, ethercatcpp::shadow::ControlMode::PWM }
	Describes the hand control mode: torque or direct PWM motor control. More...

enum	ethercatcpp::shadow::JointNames { ethercatcpp::shadow::JointNames::FFJ4, ethercatcpp::shadow::JointNames::FFJ3, ethercatcpp::shadow::JointNames::FFJ2, ethercatcpp::shadow::JointNames::MFJ4, ethercatcpp::shadow::JointNames::MFJ3, ethercatcpp::shadow::JointNames::MFJ2, ethercatcpp::shadow::JointNames::RFJ4, ethercatcpp::shadow::JointNames::RFJ3, ethercatcpp::shadow::JointNames::RFJ2, ethercatcpp::shadow::JointNames::LFJ5, ethercatcpp::shadow::JointNames::LFJ4, ethercatcpp::shadow::JointNames::LFJ3, ethercatcpp::shadow::JointNames::LFJ2, ethercatcpp::shadow::JointNames::THJ5, ethercatcpp::shadow::JointNames::THJ4, ethercatcpp::shadow::JointNames::THJ3, ethercatcpp::shadow::JointNames::THJ2, ethercatcpp::shadow::JointNames::WRJ2, ethercatcpp::shadow::JointNames::WRJ1 }
	Shadow hand joint names. More...

enum	ethercatcpp::shadow::JointGroupsNames { ethercatcpp::shadow::JointGroupsNames::FirstFinger, ethercatcpp::shadow::JointGroupsNames::MiddleFinger, ethercatcpp::shadow::JointGroupsNames::RingFinger, ethercatcpp::shadow::JointGroupsNames::LittleFinger, ethercatcpp::shadow::JointGroupsNames::Thumb, ethercatcpp::shadow::JointGroupsNames::Wrist }
	All available joints groups on a Shadow hand. More...

Functions
constexpr std::size_t	ethercatcpp::shadow::index_of (JointNames name)

constexpr std::size_t	ethercatcpp::shadow::index_of (JointGroupsNames name)

constexpr std::size_t	ethercatcpp::shadow::index_of (HandID id)

Variables
constexpr int	ethercatcpp::shadow::NUM_MOTORS = 20

constexpr int	ethercatcpp::shadow::SENSORS_NUM_0220 = 36

constexpr int	ethercatcpp::shadow::POSITION_SENSOR_NUM = 26

constexpr std::array< uint32_t, static_cast< int >HandID::Count)>	ethercatcpp::shadow::hand_serial_numbers
	List of serial numbers corresponding to HandIDs. More...

constexpr std::array< HandType, static_cast< int >HandID::Count)>	ethercatcpp::shadow::hand_types
	List of hand types corresponding to HandIDs. More...

constexpr std::size_t	ethercatcpp::shadow::first_finger_joint_count = 3

constexpr std::size_t	ethercatcpp::shadow::middle_finger_joint_count = 3

constexpr std::size_t	ethercatcpp::shadow::ring_finger_joint_count = 3

constexpr std::size_t	ethercatcpp::shadow::little_finger_joint_count = 4

constexpr std::size_t	ethercatcpp::shadow::thumb_finger_joint_count = 4

constexpr std::size_t	ethercatcpp::shadow::wrist_joint_count = 2

constexpr std::size_t	ethercatcpp::shadow::joint_count

constexpr std::size_t	ethercatcpp::shadow::joint_groups_count = 6

constexpr std::size_t	ethercatcpp::shadow::biotac_count = 5

constexpr std::array< const char *, joint_count >	ethercatcpp::shadow::joint_names

constexpr std::array< const char *, joint_groups_count >	ethercatcpp::shadow::joint_groups_names

Detailed Description

types needed to describe a shadow hand

Author: Benjamin Navarro (original author, refactoring); Robin Passama (refactoring)

Classes

Namespaces

Enumerations

Functions

Variables

Detailed Description