Inheritance diagram for dg_blmc_robots::DGMTeststand:

Collaboration diagram for dg_blmc_robots::DGMTeststand:

Public Member Functions
	DGMTeststand ()
	DGMTeststand is the constructor.

	~DGMTeststand ()
	~DGMTeststand is the destructor.

void	initialize_hardware_communication_process ()
	initialize_hardware_communication_process is the function that initialize the hardware. More...

void	get_sensors_to_map (dynamic_graph::VectorDGMap &map)
	get_sensors_to_map acquires the sensors data and feeds it to the input/output map More...

void	set_motor_controls_from_map (const dynamic_graph::VectorDGMap &map)
	set_motor_controls_from_map reads the input map that contains the controls and send these controls to the hardware. More...

virtual bool	is_in_safety_mode ()
	is_in_safety_mode Implement custom safe-mode detection.

bool	calibrate_joint_position_callback (dg_blmc_robots::JointCalibration::Request &req, dg_blmc_robots::JointCalibration::Response &res)
	ROS callback. More...

Private Member Functions
void	calibrate_joint_position (const Eigen::Vector2d &zero_to_index_angle)
	Calibrate the robot joint position. More...

Private Attributes
blmc_robots::Teststand	teststand_
	Entries for the real hardware. More...

Eigen::Vector2d	ctrl_joint_torques_
	ctrl_joint_torques_ the joint torques to be sent

Eigen::Vector2d	zero_to_index_angle_from_file_
	These are the calibration value extracted from the paramters. More...

bool	was_in_safety_mode_
	was_in_safety_mode_ Toggle to keep in safety mode once it was entered.

Member Function Documentation

void dg_blmc_robots::DGMTeststand::calibrate_joint_position ( const Eigen::Vector2d & zero_to_index_angle )

private

Calibrate the robot joint position.

Parameters

zero_to_index_angle is the angle between the theoretical zero and the next positive angle.

bool dg_blmc_robots::DGMTeststand::calibrate_joint_position_callback	(	dg_blmc_robots::JointCalibration::Request &	req,
		dg_blmc_robots::JointCalibration::Response &	res
	)

ROS callback.

Parameters

req
res

void dg_blmc_robots::DGMTeststand::get_sensors_to_map ( dynamic_graph::VectorDGMap & map )

get_sensors_to_map acquires the sensors data and feeds it to the input/output map

Parameters

[in]

Joint data

Additional data

Joint data

Additional data

void dg_blmc_robots::DGMTeststand::initialize_hardware_communication_process ( )

initialize_hardware_communication_process is the function that initialize the hardware.

Load the calibration parameters

initialize the user commands

Initialize the hardware

void dg_blmc_robots::DGMTeststand::set_motor_controls_from_map ( const dynamic_graph::VectorDGMap & map )

set_motor_controls_from_map reads the input map that contains the controls and send these controls to the hardware.

Parameters

map

Member Data Documentation

blmc_robots::Teststand dg_blmc_robots::DGMTeststand::teststand_

private

Entries for the real hardware.

test_bench_ the real test bench hardware drivers.

Eigen::Vector2d dg_blmc_robots::DGMTeststand::zero_to_index_angle_from_file_

private

These are the calibration value extracted from the paramters.

They represent the distance between the theorical zero joint angle and the next jont index.

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