ArmSystem Class Reference

Owns, initializes, and facilitates communication between different hardware/software components. Provides builtin set/get end effector pose, joint angles for a generic arm. More...

#include <arm_system.h>

Inheritance diagram for ArmSystem:

Collaboration diagram for ArmSystem:

Public Member Functions
	ArmSystem (ArmParser &arm_hardware)
	Constructor. More...
Eigen::Matrix4d	getEndEffectorPose ()
	Public API call to get end effector transform. More...
bool	grip (bool grip_action)
	Public API call to grip/ungrip an object. More...
void	power (bool state)
	Power the arm on/off. More...
void	foldArm ()
	Set the arm joints to a known folded configuration. More...
void	rightArm ()
	Set the arm joints to a known L shaped configuration. More...
std::string	getSystemStatus () const
	Provide the current state of arm system. More...
bool	getCommandStatus () const
	Verify the status of grip/power on/off and fold/rightArm commands. More...
bool	enabled () const
	If arm is enabled return. More...
Public Member Functions inherited from BaseRobotSystem
	BaseRobotSystem ()
	Constructor to initialize active controllers and mutexes to NULL. More...
template<class ControllerHardwareConnectorT , class GoalT >
void	setGoal (GoalT goal)
	sets goal to the connector and swaps the active connector with the specified connector type. More...
template<class ControllerHardwareConnectorT , class GoalT >
GoalT	getGoal () const
	Get the goal from connector. More...
template<class ControllerHardwareConnectorT >
ControllerStatus	getStatus () const
	Get the status of a controller. More...
ControllerStatus	getActiveControllerStatus (HardwareType hardware_type) const
	Get the status of the active controller. More...
void	abortController (HardwareType hardware_type)
	Remove active controller for given hardware type. More...
void	runActiveController (HardwareType hardware_type)
	Run active controller stored for a given hardware type. More...

Additional Inherited Members
Protected Attributes inherited from BaseRobotSystem
TypeMap < AbstractControllerHardwareConnector >	controller_hardware_connector_container_
	Container to store and retrieve controller-hardware-connectors. More...

Detailed Description

Owns, initializes, and facilitates communication between different hardware/software components. Provides builtin set/get end effector pose, joint angles for a generic arm.

Constructor & Destructor Documentation

ArmSystem::ArmSystem ( ArmParser &  arm_hardware )

inline

Constructor.

ArmSystem requires an arm hardware. It instantiates the connectors, controllers

Parameters

arm_hardware

input hardware to send commands back

Member Function Documentation

bool ArmSystem::enabled ( ) const

inline

If arm is enabled return.

Returns

True if arm enabled

void ArmSystem::foldArm ( )

inline

Set the arm joints to a known folded configuration.

bool ArmSystem::getCommandStatus ( ) const

inline

Verify the status of grip/power on/off and fold/rightArm commands.

Returns

True if the command is complete

Eigen::Matrix4d ArmSystem::getEndEffectorPose ( )

inline

Public API call to get end effector transform.

std::string ArmSystem::getSystemStatus ( ) const

inlinevirtual

Provide the current state of arm system.

Todo:

Add status about arm powered on/off, and any error messages can also add arm end effector pose if useful

Returns

string representation of the arm system state

Implements BaseRobotSystem.

Reimplemented in UAVArmSystem.

bool ArmSystem::grip ( bool  grip_action )

inline

Public API call to grip/ungrip an object.

Parameters

grip_action

true to grip an object and false to ungrip

Returns

True if command sent successfully, false otherwise

void ArmSystem::power ( bool  state )

inline

Power the arm on/off.

Parameters

state

True to switch on, and False to switch off.

void ArmSystem::rightArm ( )

inline

Set the arm joints to a known L shaped configuration.

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

• include/aerial_autonomy/robot_systems/arm_system.h