mia_hand_ros_control  rel 1.0.0
mia_hand::MiaHWInterface Class Reference

Class hardware interface of the real Mia hand. More...

#include <mia_hw_interface.h>

Inheritance diagram for mia_hand::MiaHWInterface:
Collaboration diagram for mia_hand::MiaHWInterface:

Public Member Functions

 MiaHWInterface ()
 Class constructor. More...
 
 ~MiaHWInterface ()
 Class distructor. More...
 
bool init (ros::NodeHandle &root_nh, ros::NodeHandle &mia_hw_nh) override
 Initialize the class hardware interface and the robot hardware. More...
 
void update (const ros::TimerEvent &e)
 Initialize the class hardware interface and the robot hardware. More...
 
void read (const ros::Time &time, const ros::Duration &duration) override
 Read state data from the real robot hardware. More...
 
void write (const ros::Time &time, const ros::Duration &duration) override
 Write data command to the real robot hardware. More...
 

Protected Types

enum  ControlMethod { EFFORT, POSITION, VELOCITY }
 Joints control methods. More...
 

Protected Member Functions

void registerJointLimits (const std::string &joint_name, const std::vector< hardware_interface::JointHandle > &joint_handle, const std::vector< ControlMethod > ctrl_method, const ros::NodeHandle &joint_limit_nh, const urdf::Model *const urdf_model, int *const joint_type, double *const lower_limit, double *const upper_limit, double *const effort_limit)
 Register the joint limits of the real mia hardware. More...
 
void InitBkLastCommands ()
 Initialization of the arrays saving the last command received. More...
 
enum ControlMethod SelectCtrMethod (enum ControlMethod last_joint_control_methods_, const double last_joint_velocity_command_, const double joint_velocity_command_, const double last_joint_position_command_, const double joint_position_command_)
 Select the control method to move the real mia hardware. More...
 
double GetThumbOppPosition ()
 Evaluate the position of the Mia thumb opposition joint. More...
 
std::string getURDF (std::string param_name) const
 Get the name of the URDF. More...
 
bool parseTransmissionsFromURDF (const std::string &urdf_string)
 Get the transmission names and type from the loaded URDF Get the trasnsmission names specified in the mia hand URDF to retrieve joints info as name, limits and type etc. More...
 

Protected Attributes

CppDriver mia_
 Low level driver of the Mia hand. More...
 
int COM_number_
 Number of the COM in which the Mia hand is plugged. More...
 
ros::NodeHandle nh_
 ROS node handle. More...
 
std::string robot_description_
 Generic name of the URDF to look for with #getURDF(std::string param_name). More...
 
std::vector< transmission_interface::TransmissionInfo > URDFtransmissions_
 Transmissions declared in the URDF. More...
 
hardware_interface::JointStateInterface js_interface_
 Interface for the real Mia joint state. More...
 
hardware_interface::PositionJointInterface pj_interface_
 Interface for the real Mia joint position commands. More...
 
hardware_interface::VelocityJointInterface vj_interface_
 Interface for the real Mia joint velocity commands. More...
 
hardware_interface::EffortJointInterface ej_interface_
 unused More...
 
joint_limits_interface::PositionJointSaturationInterface pj_sat_interface_
 Interface for the real Mia joint position saturation limit. More...
 
joint_limits_interface::PositionJointSoftLimitsInterface pj_limits_interface_
 Interface for the real joint position soft limit. More...
 
joint_limits_interface::VelocityJointSaturationInterface vj_sat_interface_
 Interface for the real Mia joint velocity saturation limit. More...
 
joint_limits_interface::VelocityJointSoftLimitsInterface vj_limits_interface_
 Interface for the real Mia joint velocity software limit. More...
 
joint_limits_interface::EffortJointSaturationInterface ej_sat_interface_
 unused More...
 
joint_limits_interface::EffortJointSoftLimitsInterface ej_limits_interface_
 unused More...
 
transmission_interface::MiaThfleTransmission ThfleTrans
 Transmissions class implemented for the Mia hand thumb flexion joint. More...
 
transmission_interface::MiaMrlTransmission MrlTrans
 Transmissions class implemented for the Mia hand mrl flexion joint. More...
 
transmission_interface::MiaIndexTransmission IndexTrans
 Transmissions class implemented for the Mia hand mrl flexion joint. More...
 
std::vector< transmission_interface::Transmission * > MiaTrasmissions
 Transmissions vector to handle the transmissions implemented for the real Mia hand. More...
 
std::vector< std::string > trasmission_names_
 Actual transmissions name. More...
 
transmission_interface::ActuatorToJointPositionInterface act_to_jnt_pos_state
 Transmission interface for propagating current actuator position state to joint space. More...
 
transmission_interface::ActuatorToJointVelocityInterface act_to_jnt_vel_state
 Transmission interface for propagating current velocity actuator state to joint space. More...
 
transmission_interface::JointToActuatorPositionInterface jnt_to_act_pos
 Transmission interface for propagating joint position commands to actuator space. More...
 
transmission_interface::JointToActuatorVelocityInterface jnt_to_act_vel
 Transmission interface for propagating joint velocity commands to actuator space Transmission interface used for Mia mrl and thumb flexion joints/actuators. More...
 
transmission_interface::MiaActuatorToJointPositionInterface index_act_to_jnt_pos_state
 Transmission interface for propagating current actuator position state of the Mia index to joint space. More...
 
transmission_interface::MiaActuatorToJointVelocityInterface index_act_to_jnt_vel_state
 Transmission interface for propagating current actuator velocity state of the Mia index to joint space. More...
 
transmission_interface::MiaJointToActuatorPositionInterface index_jnt_to_act_pos
 Transmission interface for propagating joint position commands to actuator space. More...
 
transmission_interface::MiaJointToActuatorVelocityInterface index_jnt_to_act_vel
 Transmission interface for propagating joint velocity commands to actuator space. More...
 
transmission_interface::ActuatorData a_state_data [3]
 Actuator state data (one for transmission). More...
 
transmission_interface::ActuatorData a_cmd_data [3]
 Actuator command data (one for transmission). More...
 
transmission_interface::JointData j_state_data [3]
 Joint state data (one for transmission). More...
 
transmission_interface::JointData j_cmd_data [3]
 joint command data (one for transmission). More...
 
mia_hand::thumb_opp_passive_joint MyTh_opp_passiveJoint
 Class used to evaluate the target position of the Mia simulated thumb opposition joint. More...
 
Joint_index_mapping joints_ii
 Joint_index_mapping struct. More...
 
unsigned int write_counter
 Counter of the write method. More...
 
int n_dof_sim_
 Number of degree of freedom. More...
 
int n_actuators_
 
std::vector< std::string > joint_names_
 Name of the joints as specified in the URDF. More...
 
std::vector< int > joint_types_
 Type of the joints specified in the URDF. More...
 
std::vector< double > joint_position_state_
 Actual position state of the joints of the Mia hardware. More...
 
std::vector< double > joint_velocity_state_
 Actual velocity state of the joints of the Mia hardware. More...
 
std::vector< double > joint_effort_state_
 Useless. More...
 
std::vector< double > joint_position_command_
 Actual position joint command for the Mia hardware. More...
 
std::vector< double > joint_velocity_command_
 Actual velocity joint command for the Mia hardware. More...
 
std::vector< double > joint_effort_command_
 Useless. More...
 
std::vector< double > last_joint_position_command_
 Last joint position command received for the Mia hardware. More...
 
std::vector< double > last_joint_velocity_command_
 Last joint velocity command received for the Mia hardware. More...
 
std::vector< double > act_position_state_
 Actual position state of the actuators of the Mia hardware. More...
 
std::vector< double > act_velocity_state_
 Actual velocity state of the actuators of the Mia hardware. More...
 
std::vector< double > act_effort_state_
 Useless. More...
 
std::vector< double > act_position_command_
 Actual position actuator command for the Mia hardware. More...
 
std::vector< double > act_velocity_command_
 Actual velocity actuator command for the Mia hardware. More...
 
std::vector< double > act_effort_command_
 Useless. More...
 
std::vector< ControlMethodjoint_control_methods_
 Actual control method for the joints of the Mia hardware. More...
 
std::vector< ControlMethodlast_joint_control_methods_
 Last control method used for the joints of the Mia hardware. More...
 
std::vector< std::vector< ControlMethod > > List_joint_control_methods_
 List of control method available for the joints of the Mia hardware. More...
 
std::vector< double > joint_lower_limits_
 Lower position limits of the joints of the Mia hardware (as specified in the URDF) More...
 
std::vector< double > joint_upper_limits_
 Upper position limits of the joints of the Mia hardware (as specified in the URDF). More...
 
std::vector< double > joint_effort_limits_
 Effort limit of the joints of the Mia hardware specified in the URDF (fake). More...
 
std::vector< double > old_act_position_state_
 Last position state of the actuator returned by the Mia hardware in the read() funtion. More...
 
int read_counter
 Counter for the read() funtion. More...
 

Detailed Description

Class hardware interface of the real Mia hand.

This class inherits from public hardware_interface::RobotHW.

Definition at line 77 of file mia_hw_interface.h.

Member Enumeration Documentation

◆ ControlMethod

Joints control methods.

All possible joints controlled methods allowed by ROS. NB. EFFORT control method is not allowed with Mia hand. It is included since in the URDF file efforts limits are usually specified.

Enumerator
EFFORT 
POSITION 
VELOCITY 

Definition at line 134 of file mia_hw_interface.h.

Constructor & Destructor Documentation

◆ MiaHWInterface()

mia_hand::MiaHWInterface::MiaHWInterface ( )

Class constructor.

Definition at line 23 of file mia_hw_interface.cpp.

◆ ~MiaHWInterface()

mia_hand::MiaHWInterface::~MiaHWInterface ( )

Class distructor.

Definition at line 48 of file mia_hw_interface.cpp.

Member Function Documentation

◆ GetThumbOppPosition()

double mia_hand::MiaHWInterface::GetThumbOppPosition ( )
protected

Evaluate the position of the Mia thumb opposition joint.

Since in the actual Mia hand the opposition of the thumb (passive joint) is coupled to the movement of the index flexion this function uses the sate of the index flexion joint of the mia hand hardware to evaluate the position that the actual thumb opposition has reached at the current time.

Parameters
periodTime since the last simulation step.
Returns
The target position of the Mia simulated thumb opposition joint.

Definition at line 609 of file mia_hw_interface.cpp.

◆ getURDF()

std::string mia_hand::MiaHWInterface::getURDF ( std::string  param_name) const
protected

Get the name of the URDF.

A method taking the ros parameter urdf generic name and return the specific of the loaded URDF.

Parameters
param_namegeneric name of the param to look for.
Returns
the specific name of the parameter linking to the robot URDF

Definition at line 642 of file mia_hw_interface.cpp.

◆ init()

bool mia_hand::MiaHWInterface::init ( ros::NodeHandle &  root_nh,
ros::NodeHandle &  mia_hw_nh 
)
override

Initialize the class hardware interface and the robot hardware.

Initialize the hardware driver, connect the COM port in which the Mia hand is plugged and initialize the hardware interface class, registering the needed interfaces and the joint limits.

Parameters
root_nhroot node handle.
mia_hw_nhMia hardware node handle.
Returns
True if the robot hardware is initialized successfully, False if not.

Definition at line 60 of file mia_hw_interface.cpp.

◆ InitBkLastCommands()

void mia_hand::MiaHWInterface::InitBkLastCommands ( )
protected

Initialization of the arrays saving the last command received.

Initialize the values of array variables ( last_joint_position_command_ and last_joint_velocity_command_ ) containing the last received command. They will be used to know which command (velocity or position) to send to the hand.

See also
SelectCtrMethod.

Definition at line 466 of file mia_hw_interface.cpp.

◆ parseTransmissionsFromURDF()

bool mia_hand::MiaHWInterface::parseTransmissionsFromURDF ( const std::string &  urdf_string)
protected

Get the transmission names and type from the loaded URDF Get the trasnsmission names specified in the mia hand URDF to retrieve joints info as name, limits and type etc.

Parameters
urdf_stringURDF parameter name.

Definition at line 676 of file mia_hw_interface.cpp.

◆ read()

void mia_hand::MiaHWInterface::read ( const ros::Time &  time,
const ros::Duration &  duration 
)
override

Read state data from the real robot hardware.

Read joint positions velocities from the real robot hardware.

Parameters
timeThe current time.
durationThe time passed since the last call to read().

Definition at line 351 of file mia_hw_interface.cpp.

◆ registerJointLimits()

void mia_hand::MiaHWInterface::registerJointLimits ( const std::string &  joint_name,
const std::vector< hardware_interface::JointHandle > &  joint_handle,
const std::vector< ControlMethod ctrl_method,
const ros::NodeHandle &  joint_limit_nh,
const urdf::Model *const  urdf_model,
int *const  joint_type,
double *const  lower_limit,
double *const  upper_limit,
double *const  effort_limit 
)
protected

Register the joint limits of the real mia hardware.

Register the limits of the joint specified by joint_name and joint_handle. The limits are retrieved from joint_limit_nh. If urdf_model is not NULL, limits are retrieved from it also.

Parameters
joint_nameName of the joint whose limits has to be registered.
joint_handleHandler of the joint.
ctrl_methodArray of enum describe the control methods available for that joint.
joint_limit_nhJoint node handle.
urdf_modelURDF model.
joint_typeJoint type (e.g. urdf::Joint::REVOLUTE).
lower_limitLower position limit of the joint returned by this method.
upper_limitUpper position limit of the joint returned by this method.
effort_limitEffortlimit of the joint returned by this method (unused).

Definition at line 485 of file mia_hw_interface.cpp.

◆ SelectCtrMethod()

enum MiaHWInterface::ControlMethod mia_hand::MiaHWInterface::SelectCtrMethod ( enum ControlMethod  last_joint_control_methods_,
const double  last_joint_velocity_command_,
const double  joint_velocity_command_,
const double  last_joint_position_command_,
const double  joint_position_command_ 
)
protected

Select the control method to move the real mia hardware.

Since velocity and position interfaces are both loaded for each joint, this method recognize wich type of control the received new command requires.

Parameters
last_joint_control_methods_Last type of control method used for the joint.
last_joint_velocity_command_Last velocity command received for the joint.
joint_velocity_command_Actual velocity command received for the joint.
last_joint_position_command_Last position command received for the joint.
joint_position_command_Actual position command received for the joint.
Returns
the control method to use in the current time step to move the joint.

Definition at line 622 of file mia_hw_interface.cpp.

◆ update()

void mia_hand::MiaHWInterface::update ( const ros::TimerEvent &  e)

Initialize the class hardware interface and the robot hardware.

◆ write()

void mia_hand::MiaHWInterface::write ( const ros::Time &  time,
const ros::Duration &  duration 
)
override

Write data command to the real robot hardware.

Write position or velocities command data to the robot hardware.

Parameters
timeThe current time.
durationThe time passed since the last call to read().

Definition at line 396 of file mia_hw_interface.cpp.

Member Data Documentation

◆ a_cmd_data

transmission_interface::ActuatorData mia_hand::MiaHWInterface::a_cmd_data[3]
protected

Actuator command data (one for transmission).

Definition at line 331 of file mia_hw_interface.h.

◆ a_state_data

transmission_interface::ActuatorData mia_hand::MiaHWInterface::a_state_data[3]
protected

Actuator state data (one for transmission).

Definition at line 330 of file mia_hw_interface.h.

◆ act_effort_command_

std::vector<double> mia_hand::MiaHWInterface::act_effort_command_
protected

Useless.

Definition at line 381 of file mia_hw_interface.h.

◆ act_effort_state_

std::vector<double> mia_hand::MiaHWInterface::act_effort_state_
protected

Useless.

Definition at line 377 of file mia_hw_interface.h.

◆ act_position_command_

std::vector<double> mia_hand::MiaHWInterface::act_position_command_
protected

Actual position actuator command for the Mia hardware.

Definition at line 379 of file mia_hw_interface.h.

◆ act_position_state_

std::vector<double> mia_hand::MiaHWInterface::act_position_state_
protected

Actual position state of the actuators of the Mia hardware.

Definition at line 375 of file mia_hw_interface.h.

◆ act_to_jnt_pos_state

transmission_interface::ActuatorToJointPositionInterface mia_hand::MiaHWInterface::act_to_jnt_pos_state
protected

Transmission interface for propagating current actuator position state to joint space.

Transmission interface used for Mia mrl and thumb flexion joints/actuators.

Definition at line 283 of file mia_hw_interface.h.

◆ act_to_jnt_vel_state

transmission_interface::ActuatorToJointVelocityInterface mia_hand::MiaHWInterface::act_to_jnt_vel_state
protected

Transmission interface for propagating current velocity actuator state to joint space.

Transmission interface used for Mia mrl and thumb flexion joints/actuators.

Definition at line 289 of file mia_hw_interface.h.

◆ act_velocity_command_

std::vector<double> mia_hand::MiaHWInterface::act_velocity_command_
protected

Actual velocity actuator command for the Mia hardware.

Definition at line 380 of file mia_hw_interface.h.

◆ act_velocity_state_

std::vector<double> mia_hand::MiaHWInterface::act_velocity_state_
protected

Actual velocity state of the actuators of the Mia hardware.

Definition at line 376 of file mia_hw_interface.h.

◆ COM_number_

int mia_hand::MiaHWInterface::COM_number_
protected

Number of the COM in which the Mia hand is plugged.

Definition at line 217 of file mia_hw_interface.h.

◆ ej_interface_

hardware_interface::EffortJointInterface mia_hand::MiaHWInterface::ej_interface_
protected

unused

Definition at line 240 of file mia_hw_interface.h.

◆ ej_limits_interface_

joint_limits_interface::EffortJointSoftLimitsInterface mia_hand::MiaHWInterface::ej_limits_interface_
protected

unused

Definition at line 248 of file mia_hw_interface.h.

◆ ej_sat_interface_

joint_limits_interface::EffortJointSaturationInterface mia_hand::MiaHWInterface::ej_sat_interface_
protected

unused

Definition at line 247 of file mia_hw_interface.h.

◆ index_act_to_jnt_pos_state

transmission_interface::MiaActuatorToJointPositionInterface mia_hand::MiaHWInterface::index_act_to_jnt_pos_state
protected

Transmission interface for propagating current actuator position state of the Mia index to joint space.

Transmission interface used for Mia index flexion joints/actuators.

Definition at line 307 of file mia_hw_interface.h.

◆ index_act_to_jnt_vel_state

transmission_interface::MiaActuatorToJointVelocityInterface mia_hand::MiaHWInterface::index_act_to_jnt_vel_state
protected

Transmission interface for propagating current actuator velocity state of the Mia index to joint space.

Transmission interface used for Mia index flexion joints/actuators.

Definition at line 313 of file mia_hw_interface.h.

◆ index_jnt_to_act_pos

transmission_interface::MiaJointToActuatorPositionInterface mia_hand::MiaHWInterface::index_jnt_to_act_pos
protected

Transmission interface for propagating joint position commands to actuator space.

Transmission interface used for Mia index flexion joints/actuators.

Definition at line 319 of file mia_hw_interface.h.

◆ index_jnt_to_act_vel

transmission_interface::MiaJointToActuatorVelocityInterface mia_hand::MiaHWInterface::index_jnt_to_act_vel
protected

Transmission interface for propagating joint velocity commands to actuator space.

Transmission interface used for Mia index flexion joints/actuators.

Definition at line 325 of file mia_hw_interface.h.

◆ IndexTrans

transmission_interface::MiaIndexTransmission mia_hand::MiaHWInterface::IndexTrans
protected

Transmissions class implemented for the Mia hand mrl flexion joint.

See also
MiaIndexTransmission class

Definition at line 269 of file mia_hw_interface.h.

◆ j_cmd_data

transmission_interface::JointData mia_hand::MiaHWInterface::j_cmd_data[3]
protected

joint command data (one for transmission).

Definition at line 334 of file mia_hw_interface.h.

◆ j_state_data

transmission_interface::JointData mia_hand::MiaHWInterface::j_state_data[3]
protected

Joint state data (one for transmission).

Definition at line 333 of file mia_hw_interface.h.

◆ jnt_to_act_pos

transmission_interface::JointToActuatorPositionInterface mia_hand::MiaHWInterface::jnt_to_act_pos
protected

Transmission interface for propagating joint position commands to actuator space.

Transmission interface used for Mia mrl and thumb flexion joints/actuators.

Definition at line 295 of file mia_hw_interface.h.

◆ jnt_to_act_vel

transmission_interface::JointToActuatorVelocityInterface mia_hand::MiaHWInterface::jnt_to_act_vel
protected

Transmission interface for propagating joint velocity commands to actuator space Transmission interface used for Mia mrl and thumb flexion joints/actuators.

Definition at line 301 of file mia_hw_interface.h.

◆ joint_control_methods_

std::vector<ControlMethod> mia_hand::MiaHWInterface::joint_control_methods_
protected

Actual control method for the joints of the Mia hardware.

Definition at line 384 of file mia_hw_interface.h.

◆ joint_effort_command_

std::vector<double> mia_hand::MiaHWInterface::joint_effort_command_
protected

Useless.

Definition at line 370 of file mia_hw_interface.h.

◆ joint_effort_limits_

std::vector<double> mia_hand::MiaHWInterface::joint_effort_limits_
protected

Effort limit of the joints of the Mia hardware specified in the URDF (fake).

Definition at line 391 of file mia_hw_interface.h.

◆ joint_effort_state_

std::vector<double> mia_hand::MiaHWInterface::joint_effort_state_
protected

Useless.

Definition at line 366 of file mia_hw_interface.h.

◆ joint_lower_limits_

std::vector<double> mia_hand::MiaHWInterface::joint_lower_limits_
protected

Lower position limits of the joints of the Mia hardware (as specified in the URDF)

Definition at line 388 of file mia_hw_interface.h.

◆ joint_names_

std::vector<std::string> mia_hand::MiaHWInterface::joint_names_
protected

Name of the joints as specified in the URDF.

Definition at line 361 of file mia_hw_interface.h.

◆ joint_position_command_

std::vector<double> mia_hand::MiaHWInterface::joint_position_command_
protected

Actual position joint command for the Mia hardware.

Definition at line 368 of file mia_hw_interface.h.

◆ joint_position_state_

std::vector<double> mia_hand::MiaHWInterface::joint_position_state_
protected

Actual position state of the joints of the Mia hardware.

Definition at line 364 of file mia_hw_interface.h.

◆ joint_types_

std::vector<int> mia_hand::MiaHWInterface::joint_types_
protected

Type of the joints specified in the URDF.

Definition at line 362 of file mia_hw_interface.h.

◆ joint_upper_limits_

std::vector<double> mia_hand::MiaHWInterface::joint_upper_limits_
protected

Upper position limits of the joints of the Mia hardware (as specified in the URDF).

Definition at line 389 of file mia_hw_interface.h.

◆ joint_velocity_command_

std::vector<double> mia_hand::MiaHWInterface::joint_velocity_command_
protected

Actual velocity joint command for the Mia hardware.

Definition at line 369 of file mia_hw_interface.h.

◆ joint_velocity_state_

std::vector<double> mia_hand::MiaHWInterface::joint_velocity_state_
protected

Actual velocity state of the joints of the Mia hardware.

Definition at line 365 of file mia_hw_interface.h.

◆ joints_ii

Joint_index_mapping mia_hand::MiaHWInterface::joints_ii
protected

Joint_index_mapping struct.

Struct that stores the index number of the simulated mia hand joint as contained in the interfaces and arrays of this class

See also
Joint_index_mapping()

Definition at line 354 of file mia_hw_interface.h.

◆ js_interface_

hardware_interface::JointStateInterface mia_hand::MiaHWInterface::js_interface_
protected

Interface for the real Mia joint state.

Definition at line 237 of file mia_hw_interface.h.

◆ last_joint_control_methods_

std::vector<ControlMethod> mia_hand::MiaHWInterface::last_joint_control_methods_
protected

Last control method used for the joints of the Mia hardware.

Definition at line 385 of file mia_hw_interface.h.

◆ last_joint_position_command_

std::vector<double> mia_hand::MiaHWInterface::last_joint_position_command_
protected

Last joint position command received for the Mia hardware.

Definition at line 372 of file mia_hw_interface.h.

◆ last_joint_velocity_command_

std::vector<double> mia_hand::MiaHWInterface::last_joint_velocity_command_
protected

Last joint velocity command received for the Mia hardware.

Definition at line 373 of file mia_hw_interface.h.

◆ List_joint_control_methods_

std::vector<std::vector<ControlMethod> > mia_hand::MiaHWInterface::List_joint_control_methods_
protected

List of control method available for the joints of the Mia hardware.

Definition at line 386 of file mia_hw_interface.h.

◆ mia_

CppDriver mia_hand::MiaHWInterface::mia_
protected

Low level driver of the Mia hand.

Definition at line 216 of file mia_hw_interface.h.

◆ MiaTrasmissions

std::vector<transmission_interface::Transmission*> mia_hand::MiaHWInterface::MiaTrasmissions
protected

Transmissions vector to handle the transmissions implemented for the real Mia hand.

Definition at line 274 of file mia_hw_interface.h.

◆ MrlTrans

transmission_interface::MiaMrlTransmission mia_hand::MiaHWInterface::MrlTrans
protected

Transmissions class implemented for the Mia hand mrl flexion joint.

See also
MiaMrlTransmission class

Definition at line 263 of file mia_hw_interface.h.

◆ MyTh_opp_passiveJoint

mia_hand::thumb_opp_passive_joint mia_hand::MiaHWInterface::MyTh_opp_passiveJoint
protected

Class used to evaluate the target position of the Mia simulated thumb opposition joint.

Class describing the relation between the position of the Mia index flexion joint and the dependent one of the thumb opposition. This class is implemented in the mia_hand_description pkg.

See also
GetThumbOppPosition()

Definition at line 343 of file mia_hw_interface.h.

◆ n_actuators_

int mia_hand::MiaHWInterface::n_actuators_
protected

Definition at line 358 of file mia_hw_interface.h.

◆ n_dof_sim_

int mia_hand::MiaHWInterface::n_dof_sim_
protected

Number of degree of freedom.

Definition at line 357 of file mia_hw_interface.h.

◆ nh_

ros::NodeHandle mia_hand::MiaHWInterface::nh_
protected

ROS node handle.

Definition at line 219 of file mia_hw_interface.h.

◆ old_act_position_state_

std::vector<double> mia_hand::MiaHWInterface::old_act_position_state_
protected

Last position state of the actuator returned by the Mia hardware in the read() funtion.

Definition at line 394 of file mia_hw_interface.h.

◆ pj_interface_

hardware_interface::PositionJointInterface mia_hand::MiaHWInterface::pj_interface_
protected

Interface for the real Mia joint position commands.

Definition at line 238 of file mia_hw_interface.h.

◆ pj_limits_interface_

joint_limits_interface::PositionJointSoftLimitsInterface mia_hand::MiaHWInterface::pj_limits_interface_
protected

Interface for the real joint position soft limit.

Definition at line 243 of file mia_hw_interface.h.

◆ pj_sat_interface_

joint_limits_interface::PositionJointSaturationInterface mia_hand::MiaHWInterface::pj_sat_interface_
protected

Interface for the real Mia joint position saturation limit.

Definition at line 242 of file mia_hw_interface.h.

◆ read_counter

int mia_hand::MiaHWInterface::read_counter
protected

Counter for the read() funtion.

Definition at line 395 of file mia_hw_interface.h.

◆ robot_description_

std::string mia_hand::MiaHWInterface::robot_description_
protected

Generic name of the URDF to look for with #getURDF(std::string param_name).

Definition at line 227 of file mia_hw_interface.h.

◆ ThfleTrans

transmission_interface::MiaThfleTransmission mia_hand::MiaHWInterface::ThfleTrans
protected

Transmissions class implemented for the Mia hand thumb flexion joint.

See also
MiaThfleTransmission class

Definition at line 257 of file mia_hw_interface.h.

◆ trasmission_names_

std::vector<std::string> mia_hand::MiaHWInterface::trasmission_names_
protected

Actual transmissions name.

Definition at line 276 of file mia_hw_interface.h.

◆ URDFtransmissions_

std::vector<transmission_interface::TransmissionInfo> mia_hand::MiaHWInterface::URDFtransmissions_
protected

Transmissions declared in the URDF.

Definition at line 232 of file mia_hw_interface.h.

◆ vj_interface_

hardware_interface::VelocityJointInterface mia_hand::MiaHWInterface::vj_interface_
protected

Interface for the real Mia joint velocity commands.

Definition at line 239 of file mia_hw_interface.h.

◆ vj_limits_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface mia_hand::MiaHWInterface::vj_limits_interface_
protected

Interface for the real Mia joint velocity software limit.

Definition at line 245 of file mia_hw_interface.h.

◆ vj_sat_interface_

joint_limits_interface::VelocityJointSaturationInterface mia_hand::MiaHWInterface::vj_sat_interface_
protected

Interface for the real Mia joint velocity saturation limit.

Definition at line 244 of file mia_hw_interface.h.

◆ write_counter

unsigned int mia_hand::MiaHWInterface::write_counter
protected

Counter of the write method.

Definition at line 356 of file mia_hw_interface.h.


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