mia_hand_description  rel 1.0.0
mia_hand::thumb_opp_passive_joint Class Reference

thumb_opp_passive_joints class. More...

#include <mia_thumb_opp_passivejoints.h>

Public Member Functions

 thumb_opp_passive_joint ()
 Class constructor. More...
 
 ~thumb_opp_passive_joint ()
 Class destructor. More...
 
void init (const bool LoadURDFInfo_=false)
 Initialize class. More...
 
double GetThumbOppPosition (double j_index_flex_pos)
 Evaluate the position of the thumb opposition based on index flexion state. More...
 
bool LoadURDFInfo ()
 Load Info from loaded URDF. More...
 

Public Attributes

std::string j_index_name
 Name of the index_fle joint specified in the URDF. More...
 
std::string j_thumb_name
 Name of the thumb_opp joint specified in the URDF. More...
 
std::string robot_description_
 Name of parameter describing the robot description loaded in the ROS parameter server. More...
 
double ThMinPos
 Lower Limit of the thumb_opp joint. More...
 
double ThMaxPos
 Upper Limit of the thumb_opp joint. More...
 

Private Member Functions

std::string getURDF (std::string param_name) const
 Get the name of the URDF. More...
 

Private Attributes

ros::NodeHandle n
 A ROS node variable. More...
 

Detailed Description

thumb_opp_passive_joints class.

This class can be used to evaluate the state of the thumb opposition (passive joint) of the Mia Hand. using the state of the index_flex joint.

Definition at line 36 of file mia_thumb_opp_passivejoints.h.

Constructor & Destructor Documentation

◆ thumb_opp_passive_joint()

mia_hand::thumb_opp_passive_joint::thumb_opp_passive_joint ( )

Class constructor.

Initialize.

Definition at line 14 of file mia_thumb_opp_passivejoints.cpp.

◆ ~thumb_opp_passive_joint()

mia_hand::thumb_opp_passive_joint::~thumb_opp_passive_joint ( )

Class destructor.

Definition at line 35 of file mia_thumb_opp_passivejoints.cpp.

Member Function Documentation

◆ GetThumbOppPosition()

double mia_hand::thumb_opp_passive_joint::GetThumbOppPosition ( double  j_index_flex_pos)

Evaluate the position of the thumb opposition based on index flexion state.

Taking the position of the index_fle joint and returns the position of the thumb_opp joint.

A method taking the position of the index_fle joint and returning the position of the thumb_opp joint.

Parameters
j_index_flex_posa double argument describing the position of the index_fle joint. @Ĺ—eturn double describing the position of the thumb_opp joint.

Definition at line 38 of file mia_thumb_opp_passivejoints.cpp.

◆ getURDF()

std::string mia_hand::thumb_opp_passive_joint::getURDF ( std::string  param_name) const
private

Get the name of the URDF.

Find the URDF parameter name.

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 98 of file mia_thumb_opp_passivejoints.cpp.

◆ init()

void mia_hand::thumb_opp_passive_joint::init ( const bool  LoadURDFInfo_ = false)

Initialize class.

Parameters
LoadURDFInfoa bool argument. True if the class has to load joint limits info from the URDF.

Definition at line 19 of file mia_thumb_opp_passivejoints.cpp.

◆ LoadURDFInfo()

bool mia_hand::thumb_opp_passive_joint::LoadURDFInfo ( )

Load Info from loaded URDF.

Load joint limits from URD.

A method that uses the class attributes to extract the upper and lower limit of the thumb joint from the URDF.

See also
j_index_name()
j_thumb_name()
robot_description_()
ThMinPos()
ThMaxPos()
Returns
updates var ThMinPos and ThMaxPos.

Definition at line 60 of file mia_thumb_opp_passivejoints.cpp.

Member Data Documentation

◆ j_index_name

std::string mia_hand::thumb_opp_passive_joint::j_index_name

Name of the index_fle joint specified in the URDF.

Definition at line 86 of file mia_thumb_opp_passivejoints.h.

◆ j_thumb_name

std::string mia_hand::thumb_opp_passive_joint::j_thumb_name

Name of the thumb_opp joint specified in the URDF.

Definition at line 92 of file mia_thumb_opp_passivejoints.h.

◆ n

ros::NodeHandle mia_hand::thumb_opp_passive_joint::n
private

A ROS node variable.

Definition at line 117 of file mia_thumb_opp_passivejoints.h.

◆ robot_description_

std::string mia_hand::thumb_opp_passive_joint::robot_description_

Name of parameter describing the robot description loaded in the ROS parameter server.

Definition at line 98 of file mia_thumb_opp_passivejoints.h.

◆ ThMaxPos

double mia_hand::thumb_opp_passive_joint::ThMaxPos

Upper Limit of the thumb_opp joint.

Definition at line 110 of file mia_thumb_opp_passivejoints.h.

◆ ThMinPos

double mia_hand::thumb_opp_passive_joint::ThMinPos

Lower Limit of the thumb_opp joint.

Definition at line 104 of file mia_thumb_opp_passivejoints.h.


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