RobotsIO::Hand::iCubHand Class Reference

Public Member Functions
	iCubHand (const std::string &robot_name, const std::string &laterality, const std::string &port_prefix, const std::string &context, const bool &use_analogs, const std::string &thumb_version="")
std::pair< bool, std::unordered_map< std::string, Eigen::VectorXd > >	encoders (const bool &blocking)

Protected Member Functions
std::pair< bool, yarp::sig::Vector >	load_vector_double (const yarp::os::ResourceFinder &rf, const std::string key, const std::size_t size)

Protected Attributes
yarp::os::Network	yarp_
const bool	use_analogs_ = false
bool	use_interface_analogs_ = false
bool	use_interface_arm_ = false
yarp::dev::PolyDriver	drv_analog_
yarp::dev::IAnalogSensor *	ianalog_ {nullptr}
yarp::dev::IControlLimits *	ilimits_ {nullptr}
yarp::dev::PolyDriver	drv_arm_
yarp::dev::IEncoders *	iarm_ {nullptr}
yarp::os::BufferedPort< yarp::os::Bottle >	port_analogs_
yarp::os::BufferedPort< yarp::os::Bottle >	port_arm_
std::unordered_map< std::string, iCub::iKin::iCubFinger >	fingers_
yarp::sig::Matrix	analog_bounds_
bool	use_bounds_ = false
const std::string	log_name_ = "iCubHand"

Detailed Description

Definition at line 33 of file iCubHand.h.

Constructor & Destructor Documentation

iCubHand()

iCubHand::iCubHand	(	const std::string &	robot_name,
		const std::string &	laterality,
		const std::string &	port_prefix,
		const std::string &	context,
		const bool &	use_analogs,
		const std::string &	thumb_version = ""
	)

Definition at line 27 of file iCubHand.cpp.

~iCubHand()

iCubHand::~iCubHand ( )

virtual

Definition at line 156 of file iCubHand.cpp.

Member Function Documentation

encoders()

std::pair< bool, std::unordered_map< std::string, Eigen::VectorXd > > iCubHand::encoders

(

const bool &

blocking

)

Definition at line 173 of file iCubHand.cpp.

load_vector_double()

std::pair< bool, yarp::sig::Vector > iCubHand::load_vector_double ( const yarp::os::ResourceFinder &  rf, const std::string  key, const std::size_t  size  )

protected

Definition at line 258 of file iCubHand.cpp.

Member Data Documentation

analog_bounds_

yarp::sig::Matrix RobotsIO::Hand::iCubHand::analog_bounds_

protected

Optional analog bounds.

Definition at line 89 of file iCubHand.h.

drv_analog_

yarp::dev::PolyDriver RobotsIO::Hand::iCubHand::drv_analog_

protected

To be used if the interface is available.

Definition at line 61 of file iCubHand.h.

drv_arm_

yarp::dev::PolyDriver RobotsIO::Hand::iCubHand::drv_arm_

protected

Definition at line 67 of file iCubHand.h.

fingers_

std::unordered_map<std::string, iCub::iKin::iCubFinger> RobotsIO::Hand::iCubHand::fingers_

protected

Instances of iCub::iKin::iCubFinger required to combine arm and analog encoders.

Definition at line 83 of file iCubHand.h.

ianalog_

yarp::dev::IAnalogSensor* RobotsIO::Hand::iCubHand::ianalog_ {nullptr}

protected

Definition at line 63 of file iCubHand.h.

iarm_

yarp::dev::IEncoders* RobotsIO::Hand::iCubHand::iarm_ {nullptr}

protected

Definition at line 69 of file iCubHand.h.

ilimits_

yarp::dev::IControlLimits* RobotsIO::Hand::iCubHand::ilimits_ {nullptr}

protected

Definition at line 65 of file iCubHand.h.

log_name_

const std::string RobotsIO::Hand::iCubHand::log_name_ = "iCubHand"

protected

Log name to be used in messages printed by the class.

Definition at line 97 of file iCubHand.h.

port_analogs_

yarp::os::BufferedPort<yarp::os::Bottle> RobotsIO::Hand::iCubHand::port_analogs_

protected

To be used if the interface is not available.

Definition at line 75 of file iCubHand.h.

port_arm_

yarp::os::BufferedPort<yarp::os::Bottle> RobotsIO::Hand::iCubHand::port_arm_

protected

Definition at line 77 of file iCubHand.h.

use_analogs_

const bool RobotsIO::Hand::iCubHand::use_analogs_ = false

protected

Definition at line 47 of file iCubHand.h.

use_bounds_

bool RobotsIO::Hand::iCubHand::use_bounds_ = false

protected

Definition at line 91 of file iCubHand.h.

use_interface_analogs_

bool RobotsIO::Hand::iCubHand::use_interface_analogs_ = false

protected

Indicates whether the PolyDriver interface is available.

Definition at line 53 of file iCubHand.h.

use_interface_arm_

bool RobotsIO::Hand::iCubHand::use_interface_arm_ = false

protected

Definition at line 55 of file iCubHand.h.

yarp_

yarp::os::Network RobotsIO::Hand::iCubHand::yarp_

protected

Definition at line 45 of file iCubHand.h.